Sub-optimal trajectory planning for mobile manipulators

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....

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Bibliographic Details
Published inRobotica Vol. 33; no. 6; pp. 1181 - 1200
Main Authors Pajak, Grzegorz, Pajak, Iwona
Format Journal Article
LanguageEnglish
Published Cambridge, UK Cambridge University Press 01.07.2015
Subjects
Collision avoidance
Control theory
Manipulators
Platforms
Robot arms
Robots
Singularities
Trajectories
Motion planning
Control of robotic systems
Robot dynamics
Redundant manipulators
Mobile robots
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ISSN0263-5747
1469-8668
DOI10.1017/S0263574714000198

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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.
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ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574714000198