Path planning for Nonholonomic mobile manipulators grasping based on multi-objective constraint

被引：0
|
作者：
Wang, Shijun [1 ,2 ]
Guo, Hao [2 ]
Huang, Yibin [1 ,2 ]
Ye, Aixue [2 ]
Yuan, Kui [2 ]
机构：
[1] Univ Chinese Acad Sci, Beijing 100049, Peoples R China
[2] Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
来源：
PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年
关键词：
mobile manipulators; path planning; manipulability measure; DYNAMIC REDUNDANCY RESOLUTION; STABILITY;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a path planning algorithm for nonholonomic mobile manipulators multi-objective grasping that computes the mobile platform trajectory by maximizing the manipulability measures. The objective of the method is to find the best platform pose when the robot end-effector grasps object whose pose has been obtained by the visual system already. Firstly, we analyzed the distribution of operating performance of the manipulator inside its working space by manipulability measure. Then, we calculated the best platform pose by maximizing the manipulability measures, meanwhile took multi-objective and nonholonomic constraints into account. Finally, we controlled the mobile manipulators to approach the object by posture stabilization algorithm and picked it up by manipulator according to the result of inverse kinematics. The proposed method has been validated practicability and effectiveness by simulation examples and grasping experiment.
引用
收藏
页码：6697 / 6702
页数：6
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