Trajectory planning for a redundant mobile manipulator using avoidance manipulability

Abstract

A Trajectory planning method for a mobile manipulator is proposed in this paper. The mobile manipulator studied here consists of a mobile platform and a redundant manipulator. Since the system has the redundant degree of freedom to perform some tasks, it will have infinite configurations to make the end-effector track the desired trajectory. The concept of AMSI and AMSIP which were used to optimize the avoidance ability for redundant manipulator is extended to carry out the trajectory planning in this paper. We firstly predefine the trajectory of the mobile platform and stop it at a certain position defined by AMSI where allows the manipulator to reach all the desired points on the trajectory, then optimize the configuration of the manipulator according to AMSI and AMSIP to realize the whole trajectory planning task. The experiments are performed by the mobile manipulator in real environment.

Physical-limits-constrained minimum velocity norm coordinating scheme for wheeled mobile redundant manipulators

“…Xu et al 22 proposed a motion planning method, which decomposed the position and orientation of the end-effector into two parts. Cui et al 23 first predefined the trajectory of a mobile platform and stopped it at a certain position, then optimized the configuration of a manipulator to realize the whole trajectory planning task. Ding et al 24 proposed a simplified inverse kinematics solving method.…”

Inverse kinematics of mobile manipulators based on differential evolution

“…However, this approach cannot be generalized to different mobile platform and manipulator structures. There are many works in mobile manipulator research, which solve the inverse kinematics of mobile manipulators [4][5][6] ; however, these methods require the inversion of a Jacobin matrix or they cannot be generalized.…”