Research on trajectory planning of mobile manipulator based on improved gradient projection algorithm
LJ Wei, HB Wu, HL Liu · Journal of Physics Conference Series · 2023
Abstract This paper takes a 10 DOF mobile manipulator as the research object. Aiming at the problem of joint acceleration overrun in the trajectory planning of a 10 DOF Manipulator, firstly, the scale factor is obtained by the extremum method. Compared with the commonly used extremum method, the optimization degree and the self motion limit factor are introduced, and a new algorithm considering joint acceleration constraint is deduced and proposed. By comparing the simulation results of the inverse solution algorithm, the effectiveness of the new algorithm is verified. Finally, it is applied to a mobile manipulator with 10 degrees of freedom for example motion test. The test results meet the design requirements. The results will be actually applied in engineering projects.