In this paper, a trajectory planning method of a mobile manipulator with the end-effector's specified path is presented. We derive the dynamics of the mobile manipulator considering it as the combined system of the manipulator and the mobile platform. The planning problem is formulated as an optimal control problem. To solve the problem, we use the concept of the order of priority. A gradient-based iterative algorithm which synthesize the gradient function in a hierarchical manner based on the order of priority is used. The simulation results of the 2-link planar nonholonomic mobile manipulator are given to show the effectiveness of the proposed algorithm.
['Akira Mohri', 'Seiji Furuno', 'Motoji Yamamoto']
Trajectory planning of mobile manipulator with end-effector's specified path