Trajectory Planning for Mobile Manipulators with Control Constraints

This paper presents the method of trajectory planning for mobile manipulators considering limitations resulting from capabilities robotic system actuators. The fulfillment control constraints is achieved by introducing virtual scaling robot in limited periods time. Such an approach allows researchers to obtain trajectories fulfilling without significantly increasing time task execution. proposed generates sub-optimal maximizing manipulability measure arm, preserves mechanical and collision avoidance can be used real-time planning. effectiveness presented solution confirmed computer simulations involving a manipulator with parameters corresponding KUKA youBot.