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

Content Provider	IEEE Xplore Digital Library
Author	Alipour, K. Moosavian, S.A.A.
Copyright Year	2011
Description	Author affiliation: Department of Mechanical Engineering at K. N. Toosi University of Technology, Tehran, Iran (Moosavian, S.A.A.) \|\| Faculty of Industrial and Mechanical Engineering, Islamic Azad University, Qazvin Branch, Iran (Alipour, K.)
Abstract	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.
Starting Page	6162
Ending Page	6167
File Size	409980
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980562
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Planning Manipulators Mobile communication Stability analysis Payloads Robot kinematics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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