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When a mobile robot executes a given task in human-robot co-existence environment, it is necessary for the robot to perform robust motions and to have abilities to deal with unforeseen situations. Therefore we aim to realize an intelligent and robust motion for a dual-arm mobile manipulator. To carry out a research of intelligent motion, we set a concrete task as "grasping a book and returning it to a bookshelf". In this task, a path of an end-effector that grasps a book should be planned according to the book's position. A motion of returning a book also requires confirming return position and planning manipulator's motion. In this paper, we introduce our motion planning algorithm for a dual-arm mobile manipulator, and shows an example of integrated motion of "tidying a room" task.