10.1184/R1/6555638.v1
Dong Hun Shin
Dong Hun
Shin
Bradley Hamner
Bradley
Hamner
Sanjiv Singh
Sanjiv
Singh
Myung Hwangbo
Myung
Hwangbo
Motion Planning for a Mobile Manipulator with Imprecise Locomotion
Carnegie Mellon University
2003
end effectors
mobile robots
path planning
position control
2003-10-01 00:00:00
Journal contribution
https://kilthub.cmu.edu/articles/journal_contribution/Motion_Planning_for_a_Mobile_Manipulator_with_Imprecise_Locomotion/6555638
<p>This paper presents a motion planning method for mobile manipulators for which the base locomotion is less precise than the manipulator control. In such a case, it is advisable to move the base to discrete poses from which the manipulator can be deployed to cover a prescribed trajectory. The proposed method finds base poses that not only cover the trajectory but also meet constraints on a measure of manipulability. We propose a variant of the conventional manipulability measure that is suited to the trajectory control of the end effector of the mobile manipulator along an arbitrary curve in three space. Results with implementation on a mobile manipulator are discussed.</p>