TY - GEN
T1 - Motion planning for a mobile manipulator considering stability and task constraints
AU - Huang, Qiang
AU - Sugano, Shigeki
AU - Tanie, Kazuo
N1 - Publisher Copyright:
© 1998 IEEE.
PY - 1998
Y1 - 1998
N2 - In order for a mobile manipulator to be used in areas such as offices and houses, the mobile platform must be small-sized. In the case of a small-sized platform, the mobile manipulator may fall down when moving at high speed, or executing tasks in the presence of disturbances. Therefore, it is necessary to consider both stabilization and manipulation simultaneously while coordinating vehicle motion and manipulator motion. In this paper, we propose a method for coordinating vehicle motion planning considering manipulator task constraints, and manipulator motion planning considering platform stability. Specifically, first, the optimal problem of vehicle motion is formulated, considering vehicle dynamics, manipulator workspace and system stability. Next, the manipulator motion is derived, considering stability compensation and manipulator configuration. Finally, the effectiveness of this method is demonstrated by simulation.
AB - In order for a mobile manipulator to be used in areas such as offices and houses, the mobile platform must be small-sized. In the case of a small-sized platform, the mobile manipulator may fall down when moving at high speed, or executing tasks in the presence of disturbances. Therefore, it is necessary to consider both stabilization and manipulation simultaneously while coordinating vehicle motion and manipulator motion. In this paper, we propose a method for coordinating vehicle motion planning considering manipulator task constraints, and manipulator motion planning considering platform stability. Specifically, first, the optimal problem of vehicle motion is formulated, considering vehicle dynamics, manipulator workspace and system stability. Next, the manipulator motion is derived, considering stability compensation and manipulator configuration. Finally, the effectiveness of this method is demonstrated by simulation.
KW - Laboratories
KW - Manipulator dynamics
KW - Mechanical engineering
KW - Mobile robots
KW - Motion planning
KW - Orbital robotics
KW - Production facilities
KW - Robot kinematics
KW - Stability
KW - Vehicle dynamics
UR - http://www.scopus.com/inward/record.url?scp=0031626101&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.1998.680649
DO - 10.1109/ROBOT.1998.680649
M3 - Conference contribution
AN - SCOPUS:0031626101
SN - 078034300X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2192
EP - 2198
BT - Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998
Y2 - 16 May 1998 through 20 May 1998
ER -