Trajectory planning of mobile manipulators in constrained workspace  

作　　者：付宜利 闫庆辉 马玉林 

机构地区：[1]Advanced Manufacturing Technology Center,Harbin Institute of Technology

出　　处：《Journal of Harbin Institute of Technology(New Series)》2008年第4期521-524,共4页哈尔滨工业大学学报（英文版）

基　　金：the National Natural Science Foundation of China(Grant No.60675051);the Scientific Research Foundation of Heilongjiang Province for the Feeturned Overseas Chinese Scholars

摘　　要：The cooperative motion planning of nonholonomic wheeled mobile manipulators （WMM） with kinematic redundaney 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 probabilistie 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.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.

关 键 词：wheeled mobile manipulators constrained workspace probabilistic planning guide configurations trajectory planning 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]