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Optimal trajectory planning for a redundant mobile manipulator with non-holonomic constraints performing push–pull tasks

Published online by Cambridge University Press:  01 May 2008

José P. Puga and
Luciano E. Chiang
José P. Puga*
Affiliation:
P. Universidad Católica de Chile, Dpto. de Ingeniería Mecánica y Metalúrgica. Av. Vicuña Mackenna 4860, Macul, Santiago, Chile.
Luciano E. Chiang
Affiliation:
P. Universidad Católica de Chile, Dpto. de Ingeniería Mecánica y Metalúrgica. Av. Vicuña Mackenna 4860, Macul, Santiago, Chile.
*
*Corresponding author. E-mail: jppuga@gmail.com
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Summary

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This work presents a method to generate optimal trajectories for redundant mobile manipulators based on a weighted function that considers simultaneously joint torques, manipulability and preferred joint angle references. This method is applicable to a group of tasks, commonly known as push–pull tasks, in which a redundant mobile manipulator subject to non-holonomic constraints moves slowly while exerting a set of forces against the environment. In practice, this occurs when the manipulator is pulling against an object such as when opening a door or unearthing a buried object. Torque is computed in a quasi-static manner, mainly taking into consideration the effect of multiple external forces while neglecting dynamic effects. The formulation incorporates a criterion for optimizing a starting configuration, and special considerations are made to account for non-holonomic constraints. The application to an existing mobile manipulator is described.

Keywords

Mobile ManipulatorMobile Robot Motion PlanningMobile RobotsRedundancyTorque OptimizationNon Holonomic Constraints

Information

Type
Article
Information
Robotica , Volume 26 , Issue 3 , May 2008, pp. 385 - 394
Copyright
Copyright © Cambridge University Press 2007

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