Towards constrained motion planning of mobile manipulators

Mariusz Janiak, Krzysztof Tchon
2010 2010 IEEE International Conference on Robotics and Automation  
This paper addresses a constrained motion planning problem for mobile manipulators. The constraints are included into the system model by means of a sort of penalty function, and then processed in accordance with the endogenous configuration space approach. Main novelty of this paper lies in deriving a constrained Jacobian motion planning algorithm with the following features: inequality constraints are included into an extended kinematics model using a smooth approximation of the plus
more » ... the model is then regularized against singularities, and the resulting imbalance in error equations is handled as a perturbation of an exponentially stable linear dynamic system. The operation of the constrained motion planning algorithm is illustrated by a motion planning problem of a mobile manipulator with bounds imposed on a platform variable. Performance of the algorithm is tested by computer simulations. • the constraints are handled via a dynamic extension of the kinematics model,
doi:10.1109/robot.2010.5509827 dblp:conf/icra/JaniakT10 fatcat:efgxba2vsba2nisd5ayv34gwcu