Kinematics and dynamics motion planning by polar piecewise interpolation and geometric considerations

Kinematics, Dynamics and Motion Planning of Wheeled Mobile Manipulators

Abstract In this paper, We first propose a systematic modeling of the wheeled mobile manipulator built from a robotic arm mounted on a wheeled mobile platform by using Lagrange dynamics equation and nonholonomic dynamics Routh equation. Then we use artificial potential field as part of feedback to accomplish the wheeled mobile manipulator’s motion planning, and its stability is guaranteed by Ly...

Whole-body Motion Planning with Simple Dynamics and Full Kinematics

To plan dynamic, whole-body motions for robots, one conventionally faces the choice between a complex, fullbody dynamic model containing every link and actuator of the robot, or a highly simplified model of the robot as a point mass. In this paper we explore a powerful middle ground between these extremes. We present an approach to generate whole-body motions using a simple dynamics model, whic...

Geometric Motion Planning: Finding Intersections

We investigate a new model for mobile agents: Motion planning with geometric primitives, similar to rulerand-circle constructions in classical geometry. In this first paper on this subject, we consider finding intersection points between two geometric objects using mobile agents that move on these objects. This amounts to finding the rendezvous point of the two agents.

Geometric operators for motion planning

Geometric reasoning in motion planning

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