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Point-to-Point Collision-Free Trajectory Planning for Mobile Manipulators

Published: 01 March 2017 Publication History

Abstract

The collision-free trajectory planning method subject to control constraints for mobile manipulators is presented. The robot task is to move from the current configuration to a given final position in the workspace. The motions are planned in order to maximise an instantaneous manipulability measure to avoid manipulator singularities. Inequality constraints on state variables i.e. collision avoidance conditions and mechanical constraints are taken into consideration. The collision avoidance is accomplished by local perturbation of the mobile manipulator motion in the obstacles neighbourhood. The fulfilment of mechanical constraints is ensured by using a penalty function approach. The proposed method guarantees satisfying control limitations resulting from capabilities of robot actuators by applying the trajectory scaling approach. Nonholonomic constraints in a Pfaffian form are explicitly incorporated into the control algorithm. A computer example involving a mobile manipulator consisting of nonholonomic platform (2,0) class and 3DOF RPR type holonomic manipulator operating in a three-dimensional task space is also presented.

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Cited By

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  • (2019)Real-Time Trajectory Generation Methods for Cooperating Mobile Manipulators Subject to State and Control ConstraintsJournal of Intelligent and Robotic Systems10.1007/s10846-018-0878-593:3-4(649-668)Online publication date: 1-Mar-2019
  • (2019)Tracking the Kinematically Optimal Trajectories by Mobile ManipulatorsJournal of Intelligent and Robotic Systems10.1007/s10846-018-0868-793:3-4(635-648)Online publication date: 1-Mar-2019
  • (2018)A TE-E Optimal Planning Technique Based on Screw Theory for Robot Trajectory in WorkspaceJournal of Intelligent and Robotic Systems10.1007/s10846-017-0706-391:3-4(363-375)Online publication date: 1-Sep-2018

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  1. Point-to-Point Collision-Free Trajectory Planning for Mobile Manipulators
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          Information

          Published In

          cover image Journal of Intelligent and Robotic Systems
          Journal of Intelligent and Robotic Systems  Volume 85, Issue 3-4
          Mar 2017
          272 pages

          Publisher

          Kluwer Academic Publishers

          United States

          Publication History

          Published: 01 March 2017
          Accepted: 24 May 2016
          Received: 14 December 2015

          Author Tags

          1. Mobile manipulator
          2. Point-to-point task
          3. Trajectory planning
          4. Control constraints

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          View all
          • (2019)Real-Time Trajectory Generation Methods for Cooperating Mobile Manipulators Subject to State and Control ConstraintsJournal of Intelligent and Robotic Systems10.1007/s10846-018-0878-593:3-4(649-668)Online publication date: 1-Mar-2019
          • (2019)Tracking the Kinematically Optimal Trajectories by Mobile ManipulatorsJournal of Intelligent and Robotic Systems10.1007/s10846-018-0868-793:3-4(635-648)Online publication date: 1-Mar-2019
          • (2018)A TE-E Optimal Planning Technique Based on Screw Theory for Robot Trajectory in WorkspaceJournal of Intelligent and Robotic Systems10.1007/s10846-017-0706-391:3-4(363-375)Online publication date: 1-Sep-2018

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