Trajectory Planning for a Redundant Mobile Manipulator using Avoidance Manipulability

被引：3
|
作者：
Cui, Ze [1 ]
Cao, Peng [1 ]
Shao, Yan-Ming [1 ]
Qian, Dong-Hai [1 ]
Wang, Xiang-Can [1 ]
机构：
[1] Shanghai Univ, Sch Mechatron Engn & Automat, Dept Precis Mech Engn, Shanghai 200072, Peoples R China
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS ( ICAL 2009), VOLS 1-3 | 2009年
关键词：
Mobile Manipulator; Trajectory Planning; Avoidance Manipulability;
D O I：
10.1109/ICAL.2009.5262911
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A Trajectory planning method for a mobile manipulator is proposed in this paper. The mobile manipulator studied here consists of a mobile platform and a redundant manipulator. Since the system has the redundant degree of freedom to perform some tasks, it will have infinite configurations to make the end-effector track the desired trajectory. The concept of AMSI and AMSIP which were used to optimize the avoidance ability for redundant manipulator is extended to carry out the trajectory planning in this paper. We firstly predefine the trajectory of the mobile platform and stop it at a certain position defined by AMSI where allows the manipulator to reach all the desired points on the trajectory, then optimize the configuration of the manipulator according to AMSI and AMSIP to realize the whole trajectory planning task. The experiments are performed by the mobile manipulator in real environment.
引用
收藏
页码：283 / 288
页数：6
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