Motion planning for Mobile Manipulator to Pick up an Object while Base Robot's Moving

Our research goal is to realize a motion planning for an intelligent mobile manipulator to pick up an object while the mobile base is moving This motion is very easy for human However it includes many technical challenges for robotic research In this research we propose a motion planning method for a mobile manipulator with considering the manipulator s manipulability In this paper we describe our motion planning algorithm and introduce a performance of planned motion using three dimensional motion simulator and our actual mobile manipu lator