手先の操作性を保つ移動マニピュレータの動作計画と実環境における動作の実現

摘要

Our research goal is to develop a motion planner for intelligent mobile manipulator to performsmooth coordination between locomotion system and manipulator.In this research, we plan a path of amobile base using values of manipulability as an evaluation function. We assume"drawing a long line ona wall" as our application task,and had implemented the task on our smallsized mobile manipulator. Inthis paper, we refer the motion planning algorithm, introduce details of the motion and show experimentalresults.