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ID 30015
フルテキストURL
著者
Nagatani, Keiji Okayama University
Hirayama, Tomonobu Okayama University
Gofuku, Akio Okayama University Kaken ID publons researchmap
Tanaka, Yutaka Okayama University
抄録

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.

キーワード
manipulators
mobile robots
path planning
備考
Digital Object Identifier: 10.1109/IRDS.2002.1043994
Published with permission from the copyright holder. This is the institute's copy, as published in Intelligent Robots and System, 2002. IEEE/RSJ International Conference on , 30 Sept.-5 Oct. 2002, Volume: 2, Pages 1663-1668.
Publisher URL:http://dx.doi.org/10.1109/IRDS.2002.1043994
Copyright © 2002 IEEE. All rights reserved.
発行日
2002-10
出版物タイトル
Intelligent Robots and Systems
開始ページ
1663
終了ページ
1668
資料タイプ
学術雑誌論文
言語
English
査読
有り
DOI
Submission Path
industrial_engineering/86