Motion planning for cooperating mobile manipulators

DOI10.1002/(SICI)1097-4563(199910)16:10%3C557::AID-ROB3%3E3.0.CO;2-HMaRDI QIDQ4948805zbMATH OpenOpenAlexFDO

Authors Jaydev P. Desai, Vijay Kumar

Publication date 7 June 2000

Full work available at URL https://doi.org/10.1002/(sici)1097-4563(199910)16:10%3C557::aid-rob3%3E3.0.co;2-h

zbMATH Keywords

calculus of variationsdynamic constraintskinematic constraintsmotion planningnonholonomic cooperating mobile robotsobstaclesoptimal controltrajectories

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05)

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Cites work

• Nonholonomic motion planning: steering using sinusoids
• On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents
• Stabilization of constraints and integrals of motion in dynamical systems
• Stabilization of trajectories for systems with nonholonomic constraints
• Trajectory generation for the N-trailer problem using Goursat normal form

Cited in

(16)

• Path planning and control of a cooperative three-robot system manipulating large objects
• Optimal control of holding motion by nonprehensile two-cooperative-arm robot
• Optimal motion planning of robotic manipulators removing mobile objects grasped in motion
• Intelligent mobile manipulator navigation using adaptive neuro-fuzzy systems
• A differential motion planning algorithm for controlling multi-robot systems handling a common object
• An evolutionary and local search algorithm for motion planning of two manipulators
• Planning and control for cooperative manipulation and transportation with aerial robots
• Cooperative towing with multiple robots
• Picking up an unknown object through autonomous modeling and grasp planning by a mobile manipulator
• Determining the collision-free joint space graph for two cooperating robot manipulators
• Time-optimal constant speed motion program for multiple cooperating manipulators
• scientific article; zbMATH DE number 797428 (Why is no real title available?)
• Mobile manipulators motion planning based on trajectory tracking control
• Optimization-based or AI Task Planning for Scenarios with Cooperating Mobile Manipulators?
• Trajectory planning for the cooperative manipulation of a flexible structure by two differentially-driven robots
• Optimal-control approach to trajectory planning for a class of mobile robotic manipulations

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