Collision-Free Trajectory Planning for Mobile Manipulators Subject to Control Constraints
نویسندگان
چکیده
منابع مشابه
Trajectory Planning of Multiple Mobile Manipulators with Collision Avoidance Capability
This paper investigates multiple wheeled mobile manipulators coordinating with each other under a collision avoidance situation. In our previous work we derived kinematic and dynamic maniuplability measures for multiple mobile manipulators transporting a common object. Main objective of this paper is to extend the previous approach to a system consisting of two mobile manipulators carrying a co...
متن کاملa novel method for trajectory planning of cooperative mobile manipulators
we design a two-stage scheme to consider trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in presence of static obstacles. within the first stage, regarding the static obstacles we develop a method that searches the workspace for the shortest possible path between start and goal configurations by constructing a graph on a portion of the confi...
متن کاملTrajectory Tracking Control for Nonholonomic Mobile Manipulators
In the paper we present new control algorithms for a special class of mobile manipulators, namely for nonholonomic mobile manipulators. A mobile manipulator is defined as a robotic system composed of a mobile platform and a manipulator mounted on the platform equipped with non-deformable wheels. Such a combined system is able to perform manipulation tasks in a much larger workspace than a fixed...
متن کاملReal-time Velocity Alteration Strategy for Collision-free Trajectory Planning of Two Articulated Robot Manipulators
Two articulated robots working in a shared workspace can be programmed by planning the tip trajectory of each robot independently. To account for collision avoidance between links, a real-time velocity alteration strategy based on fast and accurate collision detection is proposed in this paper to determine the step of next motion of slave (low priority) robot for collision-free trajectory plann...
متن کاملCollision Free Path Planning for Multi-DoF Manipulators
Path planning is a very important issue in robotics. It has been widely studied for the last decades. This subject has gathered three interesting fields that were quite different in the past. These fields are robotics, artificial intelligence and control. The general problem of path planning consists of searching a collision free trajectory that drives a robot from an initial location (position...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Archive of Mechanical Engineering
سال: 2014
ISSN: 2300-1895
DOI: 10.2478/meceng-2014-0002