Trajectory Generation for Mobile Manipulators
Foudil Abdessemed, Salima Djebrani · InTech eBooks · 2010
This work proposed two different methodologies to generating desired joint trajectories for both holonomic and non-holonomic mobile manipulators given prespecified operational tasks. The first part considers a non-holonomic platform where the generalized inverses in the resolution of a redundant system are used. The additional degrees of freedom are exploited to avoid unforeseen obstacles and joint limits. In the second part of the work a holonomic platfrom is used. In this case, the trajectory is generated using a reactive approach based on virtual impedance and additional tasks. When the robot task is about a stationary point, the mobile manipulator showed a good tracking for the manipulator. As perspective an estimate procedure must be conducted in order to estimate the contact forces and the unknown holonomic mobile manipulator parameters driving the system Computer