Title :
Motion planning for Mobile Manipulator to Pick up an Object while Base Robot´s Moving
Author :
Shan, Wanli ; Nagatani, Keiji ; Tanaka, Yutaka
Author_Institution :
Graduate Sch. of Natural Sci. & Technol., Okayama Univ.
Abstract :
Our research goal is to realize a motion planning for an intelligent mobile manipulator to pick up an object while the mobile base is moving. This motion is very easy for human. However, it includes many technical challenges for robotic research. In this research, we propose a motion planning method for a mobile manipulator with considering the manipulator´s manipulability. In this paper, we describe our motion planning algorithm and introduce a performance of planned motion using three dimensional motion simulator and our actual mobile manipulator
Keywords :
intelligent robots; manipulators; mobile robots; path planning; intelligent mobile manipulator; motion planning; motion simulator; Humans; Intelligent robots; Manipulator dynamics; Mobile robots; Motion planning; Path planning; Production facilities; Robot sensing systems; Robotics and automation; Technology planning;
Conference_Titel :
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
0-7803-8614-8
DOI :
10.1109/ROBIO.2004.1521803
