Sub-Optimal Trajectory Planning of Mobile Manipulator

نویسندگان

  • Akira Mohri
  • Seiji Furuno
  • Makoto Iwamura
  • Motoji Yamamoto
چکیده

In this paper, 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 e ectiveness of the proposed algorithm.

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عنوان ژورنال:
  • Robotica

دوره 33  شماره 

صفحات  -

تاریخ انتشار 2001