Trajectory planning of mobile manipulator with stability considerations

Seiji Furuno, Motoji Yamamoto, Akira Mohri

Research output: Contribution to journalConference articlepeer-review

45 Citations (Scopus)


This paper presents methods of trajectory planning for a mobile manipulator with stability considerations. The proposed trajectory planning method is to generate a trajectory for the mobile manipulator from a given path of the end-effector considering stability. Then, we derive a dynamics model of the mobile manipulator considering it as the combined system of the manipulator and the mobile platform. ZMP criterion is used as an index for the system stability. The trajectory planning problem is formulated as an optimal control problem with some constraints. To solve the problem, we use a hierarchical gradient method which synthesizes the gradient function in a hierarchical manner based on the order of priority. The simulation results of the 2-link planar nonholonomic mobile manipulator are given to show the effectiveness of the proposed algorithm.

Original languageEnglish
Pages (from-to)3403-3408
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sept 14 2003Sept 19 2003

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering


Dive into the research topics of 'Trajectory planning of mobile manipulator with stability considerations'. Together they form a unique fingerprint.

Cite this