By Topic

Trajectory planning of multiple mobile manipulators with collision avoidance capability

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)
Yamamoto, Y. ; Dept. of Precision Eng., Tokai Univ., Hiratsuka, Japan ; Fukuda, S.

Investigates multiple wheeled mobile manipulators coordinating with each other under a collision avoidance situation. Yamamoto and Yun (1994, 1997, 1999) derived kinematic and dynamic manipulability measures for multiple mobile manipulators transporting a common object. The main objective of this paper is to extend the previous approach to a system consisting of two mobile manipulators carrying a common object while avoiding a collision. The two mobile manipulators dynamically change their configurations so that they do not collide with each other while not only maintaining the support for the object but also keeping the arm's configuration away from singularities.

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:4 )

Date of Conference:

2002