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Romansy 16 pp 171-178 | Cite as

Sub-Optimal Motion Planner of Mobile Manipulators in Generalized Point-to-Point Task With Stability Constraint

  • M. Haddad
  • T. Chettibi
  • T. Saidouni
  • S. Hanchi
  • H. E. Lehtihet
Part of the CISM Courses and Lectures book series (CISM, volume 487)

Abstract

A trajectory planning method is presented for wheeled mobile manipulators in a structured workspace. The problem is known to be complex, particularly when dynamics is considered. Our approach is based on the simultaneous search for the robot path and for the time history on this path. The whole problem is formulated in such a way that kinodynamic constraints and stability conditions are transformed to bounds on admissible travel time.

Keywords

Travel Time Joint Torque Mobile Manipulator Trajectory Planning Nonholonomic Constraint 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • M. Haddad
    • 1
  • T. Chettibi
    • 1
  • T. Saidouni
    • 1
  • S. Hanchi
    • 1
  • H. E. Lehtihet
    • 1
  1. 1.Laboratory of Structure MechanicsE.M.P.AlgiersAlgeria

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