Trajectory planning for mobile manipulators subject to control constraints
Grzegorz Pająk · 2017
A method of trajectory planning with regards to control constraints for mobile manipulator working in the workspace including obstacles is presented. The task of the robot is to reach a specified end-effector position with high manipulability measure of the holonomic arm. The motion is planned in such a way to guarantee that mechanical and collision constraints are satisfied. To ensure fulfillment of control limitations a trajectory scaling approach in limited periods of time, when controls are close to constraints, is used. In order to obtain smooth controls a heuristic rule for choosing trajectory scaling parameter is introduced. The effectiveness of the proposed approach is confirmed by the computer simulations of the mobile manipulator consisting of (2,0) class nonholonomic platform and 3DOF holonomic arm.