Motion Planning of Nonholonomic Mobile Manipulators with Manipulability Maximization Considering Joints Physical Constraints and Self-Collision Avoidance

The motion of nonholonomic mobile manipulators (NMMs) is inherently constrained by joint limits, velocity self-collisions and singularities. Most planning algorithms consider some the aforementioned constraints, however, a unified framework to deal with all them lacking. This paper proposes solution for kinematic trajectory tracking redundant NMMs that include constraints needed practical implementation, which improves manipulability both entire system manipulator prevent Experiments using 10-DOF NMM demonstrate good performance proposed method executing 6-DOF trajectories while satisfying simultaneously maximizing manipulability.