• Users Online: 422
  • Print this page
  • Email this page
Year : 2011  |  Volume : 1  |  Issue : 1  |  Page : 24-35

A novel method for trajectory planning of cooperative mobile manipulators

College of Electrical Engineering, Iran University of Sciences and Technology, Namak, Tehran, Iran

Correspondence Address:
Hossein Bolandi
College of Electrical Engineering, Iran University of Science and Technology, Narmak, P.O.Box 16844, Tehran
Login to access the Email id

Source of Support: None, Conflict of Interest: None

DOI: 10.4103/2228-7477.83518

Rights and Permissions

We have designed a two-stage scheme to consider the trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in the presence of static obstacles. In the first stage, with regard to the static obstacles, we develop a method that searches the workspace for the shortest possible path between the start and goal configurations, by constructing a graph on a portion of the configuration space that satisfies the collision and closure constraints. The final stage is to calculate a sequence of time-optimal trajectories to go between the consecutive points of the path, with regard to the nonholonomic constraints and the maximum allowed joint accelerations. This approach allows geometric constraints such as joint limits and closed-chain constraints, along with differential constraints such as nonholonomic velocity constraints and acceleration limits, to be incorporated into the planning scheme. The simulation results illustrate the effectiveness of the proposed method.

Print this article     Email this article
 Next article
 Previous article
 Table of Contents

 Similar in PUBMED
   Search Pubmed for
   Search in Google Scholar for
 Related articles
 Citation Manager
 Access Statistics
 Reader Comments
 Email Alert *
 Add to My List *
 * Requires registration (Free)

 Article Access Statistics
    PDF Downloaded68    
    Comments [Add]    

Recommend this journal