Motion planning for mobile manipulator with keeping manipulability

K. Nagatani, T. Hirayama, A. Gofuku, Y. Tanaka

Research output: Contribution to conferencePaper

44 Citations (Scopus)

Abstract

Our research goal is to realize a motion planning for an intelligent mobile manipulator. To plan a mobile manipulator's motion, it is popular that the base robot motion is regarded as manipulator's extra joints, and the whole system is considered as a redundant manipulator. In this case, the locomotion controller is a part of the manipulator controller. However, it is difficult to implement both controllers as one controller, in our implementation experience, because of difference of actuators' character. In this research, we focus on a path planning algorithm for a mobile base with keeping manipulability at the tip of the mounted manipulator. In this case, the locomotion controller is independent from the manipulator controller, and a cooperative motion is realized by a communication between both controllers. In this paper, we propose a motion planning algorithm for a mobile manipulator, and report several experimental results.

Original languageEnglish
Pages1663-1668
Number of pages6
Publication statusPublished - Jan 1 2002
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: Sep 30 2002Oct 4 2002

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period9/30/0210/4/02

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Nagatani, K., Hirayama, T., Gofuku, A., & Tanaka, Y. (2002). Motion planning for mobile manipulator with keeping manipulability. 1663-1668. Paper presented at 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.