Motion planning of nonholonomic mobile manipulators with manipulability maximization considering joints physical constraints and self-collision avoidance

Josuet Leoro, Tesheng Hsiao*

*此作品的通信作者

研究成果: Article同行評審

2 引文 斯高帕斯(Scopus)

摘要

The motion of nonholonomic mobile manipulators (NMMs) is inherently constrained by joint limits, joint velocity limits, self-collisions and singularities. Most motion planning algorithms consider some of the aforementioned constraints, however, a unified framework to deal with all of them is lacking. This paper proposes a motion planning solution for the kinematic trajectory tracking of redundant NMMs that include all the constraints needed for practical implementation, which improves the manipulability of both the entire system and the manipulator to prevent sin-gularities. Experiments using a 10-DOF NMM demonstrate the good performance of the proposed method for executing 6-DOF trajectories while satisfying all the constraints and simultaneously maximizing manipulability.

原文English
文章編號6509
期刊Applied Sciences (Switzerland)
11
發行號14
DOIs
出版狀態Published - 2 7月 2021

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