Including a non-holonomic constraint in the FSP (full spaceparameterization) method for mobile manipulators' motion planning
Pin, F.G.
Hacker, C.J.
Gower, K.B.
Morgansen, K.A.
Robotics & Process Syst. Div., Oak Ridge Nat. Lab., TN;
This paper appears in: Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Publication Date: 20-25 Apr 1997
Volume: 4,
On page(s): 2914-2919 vol.4
Meeting Date: 04/20/1997 - 04/25/1997
Location: Albuquerque, NM, USA
ISBN: 0-7803-3612-7
References Cited: 20
INSPEC Accession Number: 5691292
Digital Object Identifier: 10.1109/ROBOT.1997.606729
Current Version Published: 2002-08-06
Abstract
The efficient utilization of the motion capabilities of mobile
manipulators, i.e. manipulators mounted on mobile platforms, requires
the resolution of the kinematically redundant system formed by the
addition of the degrees of freedom (DOF) of the platform to those of the
manipulator. At the velocity level, the linearized Jacobian equation for
such a redundant system represents an underspecified system of algebraic
equations, which can be subject to a set of constraints such as
obstacles in the workspace and various limits on the joint motions. A
method, which we named the FSP, has been developed to resolve such
underspecified systems with constraints that may vary in time and in
number during a single trajectory. The application of the method to
motion planning problems with obstacle and joint limit avoidance was
discussed in some of our previous work. In this paper, we present the
treatment in the FSP of a non-holonomic constraint on the platform
motion, and give corresponding analytical solutions for resolving the
redundancy with a general optimization criterion. Comparative
trajectories involving a 10 DOF mobile manipulator testbed moving with
and without a non-holonomic constraint for the platform motion, are
presented to illustrate the use and efficiency of the FSP approach in
motion planning problems for highly kinematically redundant and
constrained systems
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