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《Journal of University of Science and Technology Beijing》 2001-02
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Multi-point Motion Planning of Wheeled Mobile Manipulator

ZHANG Shuosheng,YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083,China)  
Based on optimal region of wheeled mobile platform and the relation between mobility and manipulability of wheeled mobile manipulator, a new optimal criterion for wheeled mobile manipulator's multi-point motion planning problem was proposed. The criterion has explicit meaning and includes not only the cost of mobile platform, the cost of manipulator, but also the cost which mobile manipulator takes to go away from it's optimal configuration and the cost which commutation configuration takes to go away from it's optimal value. Finally, the feasibility of the method was proved by simulation.
【CateGory Index】: TP241
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【References】
Chinese Journal Full-text Database 2 Hits
1 LI Na,ZHAO Xin-Hua (School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300191, China);Motion Planning of Mobile Manipulator Based on Genetic Algorithms[J];Development & Innovation of Machinery & Electrical Products;2007-01
2 SONG Zuo-shi, YI Jian-qiang, ZHAO Dong-bin (Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China);SURVEY OF THE CONTROL FOR MOBILE MANIPULATORS[J];Robot;2003-05
【Citations】
Chinese Journal Full-text Database 3 Hits
1 ZHANG Shuosheng, YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083,China);Optimal Configurator of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2000-06
2 ZHANG Shuosheng, YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083);Point-point Motion Planning of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2001-01
3 ZHANG Shuo-sheng\ YU Da-tai (Robotics Research Institute, University of Science and Technology, Beijing\ 100083);TRANSFERRING BETWEEN TWO CONFIGURATIONS FOR CARLIKE MOBILE PLOTFORM EFFECTS ON MANIPULATOR[J];Robot;2001-01
【Co-citations】
Chinese Journal Full-text Database 6 Hits
1 ZHANG Shuosheng, YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083);Point-point Motion Planning of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2001-01
2 ZHANG Li-xun,BU Chi-wu1,2(1.College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China;2.College of Light Industry,Harbin University of Commerce,Harbin 150028,China);Robust compensation control of mobile manipulator service robot[J];Electric Machines and Control;2009-01
3 LI Na,ZHAO Xin-Hua (School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300191, China);Motion Planning of Mobile Manipulator Based on Genetic Algorithms[J];Development & Innovation of Machinery & Electrical Products;2007-01
4 SONG Zuo-shi, YI Jian-qiang, ZHAO Dong-bin (Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China);SURVEY OF THE CONTROL FOR MOBILE MANIPULATORS[J];Robot;2003-05
5 LI Xin-chun, ZHAO Dong-bin, YI Jian-qiang, SONG Zuo-shi (Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China );A coordinated and hierarchical path planning approach for mobile manipulator[J];Manufacturing Automation;2005-05
6 Tao Ke,Bi Shu-guo,Guo Dan(School of mechanical engineering,Shenyang university of technology,Shenyang Liaoning 110023,China);Modal analysis of the frame of tyre high speed test machine[J];Mechanical Research and Application;2005-05
【Co-references】
Chinese Journal Full-text Database 10 Hits
1 ZHU Ming-xing 1,ZHANG De-long 2 1(Depart.of Antomation of Anhui Univ.Hefei 230039,China) 2( Department of Electronic Engineering ang Information Science of Anhui Univ.,Heifei 230039,China);Study on the Algorithms of Selecting the Radial Basis Function Center[J];JOURNAL OF ANHUI UNIVERSITY(NATURAL SCIENCES);2000-01
2 Lu Zhen Yan Biao(Beijing University of Aeronautics and Astronautics,Dept. of Mechanical and Electrical Engineering);Kinematic Inverse Problem and Stability of Wheeled Mobile Robots[J];JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS;1998-03
3 ZHANG Shuosheng, YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083,China);Optimal Configurator of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2000-06
4 ZHANG Shuosheng, YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083);Point-point Motion Planning of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2001-01
5 ZHANG Shuosheng, YU DataiBeijing Institute of Petro-Chemical Technology. Beijing 102600, ChinaRobotics Research Institute, University of Science and Technology Beijing, Beijing 100083, China;Robust Following Controller Design of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2003-01
6 WANG Jian-zhong,QI Wei-wei,SONG Qiu-zhi,DUO Ying-xian(State Key Laboratory of Explosion Science and Technology,Beijing Institute of Technology,Beijing 100081,China);Mobile Robot Fuzzy Control Based on a New Error Model[J];Transactions of Beijing Institute of Technology;2006-03
7 Zhang Shuosheng (Department of Automation,Beijing Institute of Petro-chemical Technology, Beijing 102617) Yu Datai (Robotics Research Institute, Beijing University of Science and Technology, Beijing 100083);Dynamic Model of Wheeled Mobile Manipulator[J];Journal of Beijing Institufe of Petrochemical Technology;2002-02
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9 LUO Xiao ping, WEI Wei (Department of Electrical Engineering,Zhejiang University, Hangzhou 310027, China);A new inverse kinematics of redundant manipulator based on fuzzy RBF neural network[J];Electronics Optics & Control;2002-03
10 YANG Guo-jun, CUI Ping-yuan (Harbin Institute of Technology, Harbin 150001, China);A neural network method applying to robot manipulator control[J];Electric Machines and Control;2000-03
【Secondary References】
Chinese Journal Full-text Database 2 Hits
1 ZHANG Li-xun,BU Chi-wu1,2(1.College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China;2.College of Light Industry,Harbin University of Commerce,Harbin 150028,China);Robust compensation control of mobile manipulator service robot[J];Electric Machines and Control;2009-01
2 QIU Hui-qiang1, JIN Hui2, ZHANG Yan1, GU Lin-yi1, CHEN Ying1 (1.The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University,Hangzhou 310027, China; 2. Machine works, Zhejiang University, Hangzhou 310027, China);Research on Profiling Handle Control Technique for Deep-sea Under Water Manipulator[J];Mechanical & Electrical Engineering Magazine;2005-06
【Secondary Citations】
Chinese Journal Full-text Database 2 Hits
1 ZHANG Shuosheng, YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083,China);Optimal Configurator of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2000-06
2 ZHANG Shuo-sheng\ YU Da-tai (Robotics Research Institute, University of Science and Technology, Beijing\ 100083);TRANSFERRING BETWEEN TWO CONFIGURATIONS FOR CARLIKE MOBILE PLOTFORM EFFECTS ON MANIPULATOR[J];Robot;2001-01
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