Trajectory planning of mobile manipulators in constrained workspace

被引：0

作者：

Fu, Yi-Li ^{[1
]}

Yan, Qing-Hui ^{[1
]}

Ma, Yu-Lin ^{[1
]}

机构：

[1] Advanced Manufacturing Technology Center, Harbin Institute of Technology, Harbin 150001, China

来源：

Journal of Harbin Institute of Technology (New Series) | 2008年 / 15卷 / 04期

关键词：

Inverse problems - Robot programming - Manipulators - Trajectories - Motion planning;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

The cooperative motion planning of nonholonomic wheeled mobile manipulators (WMM) with kinematic redundancy in the constrained workspace was studied. A trajectory planning method combining the probabilistic planning and the solving of inverse kinematic equations was presented. First, the probabilistic planning method was used to determine the guide configurations; then the switching objective function was defined and the path of the end-effector was constructed based on these guide configurations; finally, the inverse kinematic equations of the WMM were solved using the gradient projection method, and the obstacle avoidance trajectory for joints of the WMM was obtained. Simulation results were given to demonstrate the effectiveness of the proposed method.

引用

页码：521 / 524