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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| Published in | Robotica Vol. 33; no. 6; pp. 1181 - 1200 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Cambridge, UK
Cambridge University Press
01.07.2015
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0263-5747 1469-8668 |
| DOI | 10.1017/S0263574714000198 |
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| Abstract | 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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| AbstractList | 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. 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. |
| Author | Pajak, Iwona Pajak, Grzegorz |
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| Cites_doi | 10.1177/027836499801701203 10.1109/70.538986 10.1016/j.ymssp.2010.11.003 10.1177/0278364903022012004 10.1109/70.105381 10.1007/s10846-004-7196-9 10.1177/0278364906068374 10.1177/027836499801700303 10.1177/0278364903022005004 10.1177/027836498500400201 10.1109/ROBOT.1997.606863 10.1017/S0263574709005578 10.1017/S026357471000007X 10.1177/027836499801700201 10.1080/0020717031000149942 10.1016/j.mechmachtheory.2012.04.001 10.1177/02783649030227007 |
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| Keywords | Motion planning Control of robotic systems Robot dynamics Redundant manipulators Mobile robots |
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| References_xml | – volume: 14 start-page: 251 year: 2009 ident: S0263574714000198_ref30 article-title: Sub-optimal trajectory planning of the redundant manipulators publication-title: Int. J. Appl. Mech. Eng. – start-page: 279 volume-title: 6th International Workshop on Robot Motion and Control year: 2007 ident: S0263574714000198_ref18 – ident: S0263574714000198_ref16 doi: 10.1177/027836499801701203 – ident: S0263574714000198_ref8 doi: 10.1109/70.538986 – start-page: 539 volume-title: Proceedings of the International Symposium on Robotics and Manufacturing year: 1992 ident: S0263574714000198_ref17 – ident: S0263574714000198_ref14 doi: 10.1016/j.ymssp.2010.11.003 – ident: S0263574714000198_ref6 doi: 10.1177/0278364903022012004 – start-page: 1271 volume-title: Proceedings of IEEE International Conference on Robotics and Automation year: 2001 ident: S0263574714000198_ref11 – ident: S0263574714000198_ref20 doi: 10.1109/70.105381 – ident: S0263574714000198_ref7 doi: 10.1007/s10846-004-7196-9 – start-page: 981 volume-title: Proceedings of the 6th International Conference on Intelligent Autonomous Systems (IAS-6) year: 2000 ident: S0263574714000198_ref1 – ident: S0263574714000198_ref3 doi: 10.1177/0278364906068374 – ident: S0263574714000198_ref28 doi: 10.1177/027836499801700303 – ident: S0263574714000198_ref9 doi: 10.1177/0278364903022005004 – ident: S0263574714000198_ref25 doi: 10.1177/027836498500400201 – start-page: 121 volume-title: Proceedings of the 4th International Workshop on Robot Motion and Control year: 2004 ident: S0263574714000198_ref23 – ident: S0263574714000198_ref10 doi: 10.1109/ROBOT.1997.606863 – start-page: 141 volume-title: Proceedings of the 2nd International Workshop on Robot Motion and Control year: 2001 ident: S0263574714000198_ref22 – start-page: 229 volume-title: Proceedings of the 1st International Workshop on Robot Motion and Control year: 1999 ident: S0263574714000198_ref24 – volume-title: Model-Based Control of a Robot Manipulator year: 1988 ident: S0263574714000198_ref19 – start-page: 605 volume-title: Proceedings of the Methods and Models in Automation and Robotics year: 2000 ident: S0263574714000198_ref29 – ident: S0263574714000198_ref12 doi: 10.1017/S0263574709005578 – volume-title: Nonlinear Programming: Sequential Unconstrained Minimization Techniques year: 1968 ident: S0263574714000198_ref26 – ident: S0263574714000198_ref13 doi: 10.1017/S026357471000007X – ident: S0263574714000198_ref4 doi: 10.1177/027836499801700201 – start-page: 3479 volume-title: Proceedings of IEEE International Conference on Robotics and Automation year: 2000 ident: S0263574714000198_ref15 – volume-title: Theory and Methods of Optimization year: 1977 ident: S0263574714000198_ref27 – ident: S0263574714000198_ref5 doi: 10.1080/0020717031000149942 – ident: S0263574714000198_ref21 doi: 10.1016/j.mechmachtheory.2012.04.001 – ident: S0263574714000198_ref2 doi: 10.1177/02783649030227007 |
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| Snippet | 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... 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... |
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| SubjectTerms | Collision avoidance Control theory Manipulators Platforms Robot arms Robots Singularities Trajectories |
| Title | Sub-optimal trajectory planning for mobile manipulators |
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