Sub-optimal trajectory planning of mobile manipulator

A. Mohri, S. Furuno, M. Iwamura, Motoji Yamamoto

研究成果: ジャーナルへの寄稿記事

36 引用 (Scopus)

抄録

In this paper, a trajectory planning method of a mobile manipulator is presented. We derive the dynamics of the mobile manipulator considering it as the combined system of the manipulator and the mobile platform. The planning problem is formulated as an optimal control problem. To solve the problem, we use the concept of the order of priority. A gradient-based iterative algorithm which synthesize the gradient function in a hierarchical manner based on the order of priority is used. The simulation results of the 2-link planar nonholonomic mobile manipulator are given to show the effectiveness of the proposed algorithm.

元の言語英語
ページ(範囲)1271-1276
ページ数6
ジャーナルUnknown Journal
2
出版物ステータス出版済み - 2001

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Manipulators
trajectory
Trajectories
planning method
Planning
simulation
planning

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering

これを引用

Mohri, A., Furuno, S., Iwamura, M., & Yamamoto, M. (2001). Sub-optimal trajectory planning of mobile manipulator. Unknown Journal, 2, 1271-1276.

Sub-optimal trajectory planning of mobile manipulator. / Mohri, A.; Furuno, S.; Iwamura, M.; Yamamoto, Motoji.

:: Unknown Journal, 巻 2, 2001, p. 1271-1276.

研究成果: ジャーナルへの寄稿記事

Mohri, A, Furuno, S, Iwamura, M & Yamamoto, M 2001, 'Sub-optimal trajectory planning of mobile manipulator', Unknown Journal, 巻. 2, pp. 1271-1276.
Mohri, A. ; Furuno, S. ; Iwamura, M. ; Yamamoto, Motoji. / Sub-optimal trajectory planning of mobile manipulator. :: Unknown Journal. 2001 ; 巻 2. pp. 1271-1276.
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