Smooth Local Path Planning for a Mobile Manipulator
نویسندگان
چکیده
This paper presents a path planning technique for a mobile manipulator whose end-effector path is imposed by a given task. The planning is done decoupling the kinematics of the mobile platform and the manipulator, and planning for the former as a normal mobile robot. Two criteria for planning the path were implemented, one minimizing the need to turn the mobile robot and the other minimizing the gravity induced torque components of the manipulator. The linear velocity for following the path is also calculated, as a function of the given endeffector speed. Several results are presented in some typical applications of this planning.
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