Trajectory planning of mobile manipulator with stability considerations

Seiji Furuno, Motoji Yamamoto, Akira Mohri

研究成果: ジャーナルへの寄稿記事

3 引用 (Scopus)

抄録

In this paper, a problem of trajectory planning for a mobile manipulator with stability considerations is presented. We derive the dynamics of the mobile manipulator considering it as the combined system of the manipulator and the mobile platform. As a measure for the system stability, a ZMP criterion is used. The planning problem is formulated as an optimal control problem with some constraints. To solve the problem, we use a hierarchical gradient method which synthesizes the gradient function in a hierarchical manner based on the order of priority. 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)1330-1335
ページ数6
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
69
発行部数5
出版物ステータス出版済み - 5 2003

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Manipulators
Trajectories
Planning
Gradient methods
System stability

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering

これを引用

Trajectory planning of mobile manipulator with stability considerations. / Furuno, Seiji; Yamamoto, Motoji; Mohri, Akira.

:: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 巻 69, 番号 5, 05.2003, p. 1330-1335.

研究成果: ジャーナルへの寄稿記事

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