Analyzing the Wheeled Mobile Manipulators with Considering the Kinematics and Dynamics of the Wheels

We present an open-loop optimal control approach to treat the optimal trajectory planning problem for nonholonomic wheeled mobile robots in the presence of kinematics and dynamics of both wheels and manipulators. This method is based on the Pontryagin's minimum principle that by providing a two point boundary value problem is solved the problem. The specific problem considered is that controlling all active joints so as to achieve the best dynamic coordination of joint motions, while minimizing the actuating inputs together bounding the velocities. Numerical results are presented for car-like two link manipulator to investigate the efficiency of the presented method.