Manipulation Planning for an Mobile Manipulator with Positioning Error

We proposed the mobile manipulation capability map(CM) and pose planning method based on multivariate Gaussian distribution in this paper. According to the theory of manipulator workspace operation capability map, we design a planning and control method for separating the mobile platform from the manipulator, to achieve high efficiency and high-success rate grasping. Solve the grasping problem of uncertain positioning of a mobile manipulator in chaotic and changing environments. The experimental results show that the filtering method based on the confidence interval of the multi-dimensional Gaussian distribution can greatly shorten the calculation time and ensure a reasonable calculation result error when the parameters are reasonably selected. Through the object grasping experiment in the actual environment, it is verified that the operation capability map proposed in this paper can improve the success rate of grasping in the cluttered environment.