Scheduled System Maintenance on May 29th, 2015:
IEEE Xplore will be upgraded between 11:00 AM and 10:00 PM EDT. During this time there may be intermittent impact on performance. For technical support, please contact us at We apologize for any inconvenience.
By Topic

Point-to-point stable motion planning of wheeled mobile robots with multiple arms for heavy object manipulation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Alipour, K. ; Fac. of Ind. & Mech. Eng., Islamic Azad Univ., Qazvin, Iran ; Moosavian, S.A.A.

Heavy object manipulation by wheeled mobile manipulators may lead to serious consequences such as postural instability, and this necessitates dynamically stable planning based on systematic analysis to better predict and eliminate the possibility of toppling down. In the present study, stable motion planning is investigated for wheeled mobile manipulators during heavy object manipulation tasks. It is assumed that the initial and final poses of a heavy payload are specified. Based on these known postures of the payload two proper configurations for robotic system is defined. Then, between these two initial and final poses, appropriate trajectories for multiple robotic arms relative to the moving base are planned without considering the postural stability of the system. Next, motion of the moving base is planned so that the stability of the overall system is guaranteed while its predetermined initial and final positions and velocities are fulfilled. To this end, the problem of stable planning is solved as an optimization problem. A proper cost function is considered, to be minimized, which is a measure of the control effort to be used for the platform motion. Moreover, using the new dynamic postural Moment-Height Stability (MHS) measure, a constraint denoting the system dynamic stability is derived and satisfied. The proposed planning approach is applied to move a heavy object with a wheeled robotic system that consists of two manipulators, where the obtained results reveal a stable optimal motion besides satisfaction of various practical aspects.

Published in:

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Date of Conference:

9-13 May 2011