In this paper, a problem of trajectory planning for a mobile manipulator with stability considerations is presented. We derive the dynamics of the mobile manipulator considering it as the combined system of the manipulator and the mobile platform. As a measure for the system stability, a ZMP criterion is used. The 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.
|Number of pages
|Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
|Published - May 2003
All Science Journal Classification (ASJC) codes
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering