Motion planning for mobile manipulator with keeping manipulability

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

研究成果: Paper

44 引用 (Scopus)

抜粋

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.

元の言語English
ページ1663-1668
ページ数6
出版物ステータスPublished - 2002 1 1
イベント2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
継続期間: 2002 9 302002 10 4

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
Switzerland
Lausanne
期間02/9/3002/10/4

ASJC Scopus subject areas

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

フィンガープリント Motion planning for mobile manipulator with keeping manipulability' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用

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