Object structure

Creator:

Pająk, Grzegorz

Contributor:

Jurczak, Paweł - red.

Title:

Planning of collision-free trajectory for mobile manipulators

Group publication title:

IJAME, volume 18 (2013)

Subject and Keywords:

mobile manipulator ; path following ; trajectory planning ; penalty function ; control constraints

Abstract:

A method of planning sub-optimal trajectory for a mobile manipulator working in the environment including obstacles is presented. The path of the end-effector is defined as a curve that can be parameterized by any scaling parameter, the reference trajectory of a mobile platform is not needed. Constraints connected with the existence of mechanical limits for a given manipulator configuration, collision avoidance conditions and control constraints are considered. ; The motion of the mobile manipulator is planned in order to maximize the manipulability measure, thus to avoid manipulator singularities. The method is based on a penalty function approach and a redundancy resolution at the acceleration level. A computer example involving a mobile manipulator consisting of a nonholonomic platform and a SCARA type holonomic manipulator operating in a two-dimensional task space is also presented.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2013

Resource Type:

artykuł

Format:

application/pdf

DOI:

10.2478/ijame-2013-0028

Pages:

475-489

Source:

IJAME, volume 18, number 2 (2013)

Language:

eng

License:

CC 4.0

License CC BY-NC-ND 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego