On the Kinematics Analysis and Motion Planning of the Manipulator of a Mobile Robot

Aiming at realizing the motion planning and use of manipulator mounted on a mobile robot, the kinematical properties of an non-redundant regional manipulator with less than six joints are investigated. In order to keep good manipulability of end-effector of the mobile manipulator, the end-effector pose and workspace analysis were studied. A method by using an inversion of a workspace formulation through analytical expression to benefit manipulators synthesis design and optimization was proposed. In order to perform a grasp task in a remote area, the motion planning of the mobile manipulator was realized based on both the robot movement and the manipulator operation. Motion planning for a manipulator that grasps a small object was proposed in practical environment. The manipulator motion planning based on its workspace and coordination of two manipulators were investigated with safety considerations.