Planning of Collision-Free Trajectory for Mobile Manipulators

A method of planning sub-optimal trajectory for a mobile manipulator working in the environment including obstacles is presented. The path of the end-effector is defined as a curve that can be parameterized by any scaling parameter, the reference trajectory of a mobile platform is not needed. Constraints connected with the existence of mechanical limits for a given manipulator configuration, collision avoidance conditions and control constraints are considered. The motion of the mobile manipulator is planned in order to maximize the manipulability measure, thus to avoid manipulator singularities. The method is based on a penalty function approach and a redundancy resolution at the acceleration level. A computer example involving a mobile manipulator consisting of a nonholonomic platform and a SCARA type holonomic manipulator operating in a two-dimensional task space is also presented.

REFERENCES (13)

An C.H., Atkeson C.G. and Hollerbach J.M. (1988): Model-based control of a robot manipulator. - Cambridge: Mit Press.

Google Scholar

Fiacco A.V. and McCormick G.P. (1968): Nonlinear Programming: Sequential Unconstrained Minimization Techniques. - John Wiley & Sons, New York.

Google Scholar

Findeisen W., Szymanowski J. and Wierzbicki A. (1977): Theory and Methods of Optimization (in Polish). - Polish Scientific Publisher, Warsaw.

Google Scholar

Galicki M. (1998): The planning of robotic optimal motions in the presence of obstacles. - Int. J. Rob. Res., vol.17, No.3, pp.248-259.

Google Scholar

Galicki M. (2011a): Task space control of mobile manipulators. - Robotica, vol.29, pp.221-232.

Google Scholar

Galicki M. (2011b): Collision-free control of mobile manipulators in a task space. - Mech. Syst. Sig. Proc., vol.25, No.7, pp.2766-2784.

Google Scholar

Galicki M. (2012): Two-stage constrained control of mobile manipulators. - Mechanism and Machine Theory, vol.54, pp.18-40.

Google Scholar

Mazur A. (2007): Path following for nonholonomic mobile manipulators. - Rob. Motion and Control, LNCIS 360, pp.279-292.

Google Scholar

Mazur A. (2010): Trajectory tracking control in workspace-defined tasks for nonholonomic mobile manipulators. - Robotica, vol.28, pp.57-68.

Google Scholar

10.

Pająk G. and Galicki, M. (2000): Collision-free trajectory planning of the redundant manipulators. - Proc. of the Methods and Models in Autom. and Rob., vol.2, pp.605-610. Pająk G. and Pająk I. (2009): Sub-optimal trajectory planning of the redundant manipulators. - Int. J. Appl. Mech. Eng., vol.14, No.1, pp.251-260.

Google Scholar

11.

Pająk G. and Pająk I. (1997): Planning of an optimal trajectory of redundant manipulator with regard to constraints on control. - Arch. Mech. Eng., vol.44, No.1, pp.5-20.

Google Scholar

12.

Pająk I. and Galicki M. (1999): The planning of suboptimal collision-free robotic motions. - In: Proc. of the Rob. Motion and Control, pp.229-243.

Google Scholar

13.

Renders J.M., Rossignol E., Becquet M. and Hanus R. (1991): Kinematic calibration and geometrical parameter identification for robots. - IEEE Trans. Rob. Autom., vol.7, No.6, pp.721-731.

Google Scholar

Submit your paper

eISSN:	2353-9003
ISSN:	1734-4492