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Sub-optimal trajectory planning for mobile manipulators

Published online by Cambridge University Press:  01 April 2014

Grzegorz Pajak  and
Iwona Pajak
Grzegorz Pajak*
Affiliation:
University of Zielona Góra, Zielona Góra, Poland
Iwona Pajak
Affiliation:
University of Zielona Góra, Zielona Góra, Poland
*
*Corresponding author. E-mail: g.pajak@iizp.uz.zgora.pl
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Summary

This paper presents a method of planning a sub-optimal trajectory for a mobile manipulator subject to mechanical and control constraints. The path of the end-effector is defined as a curve that can be parameterised 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. Nonholonomic constraints in a Pfaffian form are explicitly incorporated to the control algorithm. To avoid manipulator singularities, the motion of the robot is planned in order to maximise the manipulability measure.

Keywords

Mobile robotsMotion planningRedundant manipulatorsRobot dynamicsControl of robotic systems
Type
Articles
Information
Robotica , Volume 33 , Issue 6 , July 2015 , pp. 1181 - 1200
Copyright
Copyright © Cambridge University Press 2014 

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