On the Kinematics Analysis and Motion Planning of the Manipulator of a Mobile Robot
Aiming at realizing the motion planning and use of manipulator mounted on a mobile robot, the kinematical properties of an non-redundant regional manipulator with less than six joints are investigated. In order to keep good manipulability of end-effector of the mobile manipulator, the end-effector pose and workspace analysis were studied. A method by using an inversion of a workspace formulation through analytical expression to benefit manipulators synthesis design and optimization was proposed. In order to perform a grasp task in a remote area, the motion planning of the mobile manipulator was realized based on both the robot movement and the manipulator operation. Motion planning for a manipulator that grasps a small object was proposed in practical environment. The manipulator motion planning based on its workspace and coordination of two manipulators were investigated with safety considerations.
Manipulator mobile robot kinematics workspace motion planning
Wang Qizhi Xu De
with School of Computer and Information Technology,Beijing Jiaotong University,Beijing 100044,P.R.Ch with The Key Laboratory of Complex System and Intelligence Science, Institute of Automation, Chinese
国际会议
2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)
四川绵阳
英文
4041-4045
2011-05-23（万方平台首次上网日期，不代表论文的发表时间）