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Title:
Planning of collision-free trajectory for mobile manipulators
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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
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DOI:
Pages:
Source:
IJAME, volume 18, number 2 (2013)