Motion planning of stabilization and cooperation of a mobile manipulator-vehicle motion planning of a mobile manipulator
- 24 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 568-575
- https://doi.org/10.1109/iros.1996.570852
Abstract
It is desired that a vehicle-mounted mobile manipulator can move with stability and can operate tasks in various environments in the presence of disturbances. In this paper, a mobile manipulator cooperative motion planning algorithm is proposed, consisting of a rough motion planning and a local motion modification. As a step to realize the cooperative motion, the vehicle motion planning is discussed, given the end-effector trajectory. First, the vehicle path is planned. Then the optimal problem of determining the passing time of the vehicle along the planned path is formulated, considering the vehicle acceleration, the manipulator workspace and the system stability. Using a gradient projection method, the vehicle motion is derived. Finally, the effectiveness of this method is illustrated by simulation.Keywords
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