DocumentCode :
306328
Title :
Motion planning for a mobile manipulator to execute a multiple point-to-point task
Author :
Lee, Jae-Kyung ; Kim, Seung Ho ; Cho, Hyung Suck
Author_Institution :
Advanced Robotics Team, Korea Atomic Energy Res. Inst., Taejon, South Korea
Volume :
2
fYear :
1996
fDate :
4-8 Nov 1996
Firstpage :
737
Abstract :
We propose a motion planning method for a mobile manipulator to execute a multiple task which consists of a sequence of point-to-point tasks. In the case of multiple tasks, because the motion trajectories between tasks and the commutation configurations are closely related, we formulate the problem as a global non-linear optimization one which takes into account both the motion trajectories and the commutation configurations. In order to simplify the problem, we divide the problem into two subproblems. At the first step, we obtain the motion trajectories assuming that the commutation configurations are given and at the next step, we obtain the optimal commutation configurations by using genetic algorithms. A series of computer simulation results are demonstrated to verify the effectiveness of the proposed method
Keywords :
genetic algorithms; manipulators; mobile robots; path planning; position control; commutation configurations; genetic algorithms; global nonlinear optimization problem; mobile manipulator; motion planning; motion trajectories; multiple point-to-point task; Actuators; Computer simulation; Genetic algorithms; Kinematics; Manipulators; Mobile computing; Mobile robots; Motion control; Motion planning; Power engineering and energy;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
Type :
conf
DOI :
10.1109/IROS.1996.571044
Filename :
571044
Link To Document :
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