Collision-free trajectory planning for mobile manipulators subject to control constraints
Journal Title: Archive of Mechanical Engineering - Year 2014, Vol 0, Issue 1
Abstract
A method of planning collision-free trajectory for a mobile manipulator tracking a line section path is presented. The reference trajectory of a mobile platform is not needed, mechanical and control constraints are taken into account. The method is based on a penalty function approach and a redundancy resolution at the acceleration level. Nonholonomic constraints in a Pfaffian form are explicitly incorporated to the control algorithm. The problem is shown to be equivalent to some point-to-point control problem whose solution may be easier determined. The motion of the mobile manipulator is planned in order to maximise the manipulability measure, thus to avoid manipulator singularities. A computer example involving a mobile manipulator consisting of a nonholonomic platform (2,0) class and a 3 DOF RPR type holonomic manipulator operating in a three-dimensional task space is also presented.
Authors and Affiliations
Grzegorz Pajak, Iwona Pajak
Keywords
Related Articles
- EP ID EP166584
- DOI 10.2478/meceng-2014-0002
- Views 108
- Downloads 0
The accuracy of the reproduction of the lumbar spine elements following CT and MRI projections
The paper presents an analysis of factors influencing the accuracy of reproduction of geometry of the vertebrae and the intervertebral disc of the lumbar motion segment for the purpose of designing of an intervertebral d...
Structural Health Monitoring (SHM) methods in machine design and operation
The present paper is devoted to the discussion and review of the non-destructive testing methods mainly based on vibration and wave propagation. In the first part, the experimental methods of actuating and analyzing the...
Preface
Thespecial issue of Archive of Mechanical Engineering consists of selected, revised and extended versions of papers presented at the conference, reporting on the state-of-the-art in the advances of computational multibod...
Finite Element formulation for the large-amplitude vibrations of FG beams
On the basis of Euler-Bernoulli beam theory, the large-amplitude free vibration analysis of functionally graded beams is investigated by means of a finite element formulation. The von Karman type nonlinear strain-displac...
List of reviewers
List of reviewers, 2014