Time and Energy Optimal Trajectory Planning of Wheeled Mobile Dual-Arm Robot Based on Tip-Over Stability Constraint

被引：9
作者：
Li, Xianhua [1 ]
Gu, Yuping [1 ]
Wu, Liang [2 ]
Sun, Qing [3 ]
Song, Tao [3 ]
机构：
[1] Anhui Univ Sci & Technol, Sch Artificial Intelligence, Huainan 232001, Peoples R China
[2] Anhui Univ Sci & Technol, Sch Mech Engn, Huainan 232001, Peoples R China
[3] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200444, Peoples R China
来源：
APPLIED SCIENCES-BASEL | 2023年 / 13卷 / 06期
基金：
中国国家自然科学基金;
关键词：
wheeled mobile dual-arm robot; tip-over stability constraint; trajectory planning in joint space; quintic B-spline curve; improved NSGA-II algorithm; MULTIOBJECTIVE OPTIMIZATION; MANIPULATOR;
D O I：
10.3390/app13063780
中图分类号：
O6 [化学];
学科分类号：
0703 ;
摘要：
Trajectory planning and avoidance of tipping are the main keys to success in the mobile dual-arm manipulation, especially when the dual-arm or moving platform is running fast. The forces and moments between wheel-terrain and body-arm have been analyzed by kinematics and force analysis of a robot to define tip-over stability constraint. Then, an improved tip-over moment stability criterion for a wheeled mobile dual-arm robot is presented and defines tip-over stability constraint based on it. To improve the motion stability of the robot, this paper presents an optimal joint trajectory planning model based on time and energy. The quintic B-spline curve and an improved NSGA-II algorithm, which are time and energy, are applied to multi-objective optimization. The simulation results show that the motion stability of a robot is improved based on the tip-over stability constraint. This trajectory planning method based on the stability constraint can be applied to other mobile robots as well.
引用
收藏
页数：18
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