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
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- EP ID EP166584
- DOI 10.2478/meceng-2014-0002
- Views 74
- Downloads 0
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