Title :
Sub-optimal trajectory planning of mobile manipulator
Author :
Mohri, Akira ; Furuno, Seiji ; Iwamura, Makoto ; Yamamoto, Motoji
Author_Institution :
Dept. of Intelligent Machinery & Syst., Kyushu Univ., Fukuoka, Japan
Abstract :
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.
Keywords :
gradient methods; iterative methods; manipulator dynamics; mobile robots; optimal control; path planning; 2-link planar nonholonomic mobile manipulator; gradient function; gradient-based iterative algorithm; sub-optimal trajectory planning; Equations; Intelligent systems; Iterative algorithms; Machine intelligence; Machinery; Manipulator dynamics; Optimal control; Systems engineering and theory; Trajectory; Wheels;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932785
