哈尔滨工业大学学报（英文版）2008，Vol.15Issue(4)：521-524,4.
Trajectory planning of mobile manipulators in constrained workspace
Trajectory planning of mobile manipulators in constrained workspace
摘要
Abstract
The cooperative motion planning of nonholonomic wheeled mobile manipulators (WMM) with kine-matic redundancy in the constrained workspace was studied. A trajectory planning method combining the proba-bilistie 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 pro-posed method.关键词
wheeled mobile manipulators/constrained workspace/probabilistic planning/guide configura-tions/trajectory planningKey words
wheeled mobile manipulators/constrained workspace/probabilistic planning/guide configura-tions/trajectory planning分类
信息技术与安全科学引用本文复制引用
FU Yi-li,YAN Qing-hui,MA Yu-lin..Trajectory planning of mobile manipulators in constrained workspace[J].哈尔滨工业大学学报（英文版）,2008,15(4):521-524,4.基金项目
Sponsored by the National Natural Science Foundation of China( Grant No. 60675051 ) and the Scientific Research Foundation of Heilongjiang Province forthe Feeturned Overseas Chinese Scholars. （ Grant No. 60675051 ）
