The cooperative motion planning of nonholonomic wheeled mobile manipulators （WMM） with kinematic redundaney in the constrained workspace was studied. A trajectory planning method combining the probabilistic planning...The cooperative motion planning of nonholonomic wheeled mobile manipulators （WMM） with kinematic redundaney in the constrained workspace was studied. A trajectory planning method combining the probabilistic planning and the solving of inverse kinematic equations was presented. First, the probabilistie planning method was used to determine the guide configurations; then the switching objective function was defined and the path of the end-effector was constructed based on these guide configurations ; finally, the inverse kinematic equations of the WMM were solved using the gradient projection method, and the obstacle avoidance trajectory for joints of the WMM was obtained. Simulation results were given to demonstrate the effectiveness of the proposed method.展开更多
For the non-holonomic constraint robot,determining the pose of its end-effector will rely on its joints' displacement and the velocity of its non-holonomic constraint joints as well.Therefore,it becomes increasing...For the non-holonomic constraint robot,determining the pose of its end-effector will rely on its joints' displacement and the velocity of its non-holonomic constraint joints as well.Therefore,it becomes increasingly difficult to obtain the analytic solution of its self-motion manifold in the traditional way for solving matrix equation.In this paper,we take the pose of end manipulator as the result of the joint sequential motion based on the mentality of motion equivalence,the structure and the reference velocity which correspond precisely to the points in self-motion manifold as self-motion variable.Thus an analytical solution for the self-motion manifold of the 8 degree of freedom wheeled mobile manipulator is presented by taking vector algebra as a tool,which facilitates deriving the closed solution of its self-motion manifold.In the closing part of this paper,calculating examples of self-motion manifold and mechanism self-motion simulation are proposed,which proves the validity of solution algorithm for self-motion manifold.展开更多
基金the National Natural Science Foundation of China(Grant No.60675051)the Scientific Research Foundation of Heilongjiang Province for the Feeturned Overseas Chinese Scholars
文摘The cooperative motion planning of nonholonomic wheeled mobile manipulators （WMM） with kinematic redundaney in the constrained workspace was studied. A trajectory planning method combining the probabilistic planning and the solving of inverse kinematic equations was presented. First, the probabilistie planning method was used to determine the guide configurations; then the switching objective function was defined and the path of the end-effector was constructed based on these guide configurations ; finally, the inverse kinematic equations of the WMM were solved using the gradient projection method, and the obstacle avoidance trajectory for joints of the WMM was obtained. Simulation results were given to demonstrate the effectiveness of the proposed method.
文摘For the non-holonomic constraint robot,determining the pose of its end-effector will rely on its joints' displacement and the velocity of its non-holonomic constraint joints as well.Therefore,it becomes increasingly difficult to obtain the analytic solution of its self-motion manifold in the traditional way for solving matrix equation.In this paper,we take the pose of end manipulator as the result of the joint sequential motion based on the mentality of motion equivalence,the structure and the reference velocity which correspond precisely to the points in self-motion manifold as self-motion variable.Thus an analytical solution for the self-motion manifold of the 8 degree of freedom wheeled mobile manipulator is presented by taking vector algebra as a tool,which facilitates deriving the closed solution of its self-motion manifold.In the closing part of this paper,calculating examples of self-motion manifold and mechanism self-motion simulation are proposed,which proves the validity of solution algorithm for self-motion manifold.
