Point-point Motion Planning of Wheeled Mobile Manipulator

ZHANG Shuosheng; YU Datai

doi:10.13374/j.issn1001-053x.2001.01.049

Volume 23 Issue 1

Aug. 2021

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Article Navigation > Chinese Journal of Engineering > 2001 > 23(1): 81-84

ZHANG Shuosheng, YU Datai. Point-point Motion Planning of Wheeled Mobile Manipulator[J]. Chinese Journal of Engineering, 2001, 23(1): 81-84. doi: 10.13374/j.issn1001-053x.2001.01.049

Citation:

ZHANG Shuosheng, YU Datai. Point-point Motion Planning of Wheeled Mobile Manipulator[J]. Chinese Journal of Engineering, 2001, 23(1): 81-84. doi: 10.13374/j.issn1001-053x.2001.01.049

ZHANG Shuosheng, YU Datai. Point-point Motion Planning of Wheeled Mobile Manipulator[J]. Chinese Journal of Engineering, 2001, 23(1): 81-84. doi: 10.13374/j.issn1001-053x.2001.01.049

Citation:

ZHANG Shuosheng, YU Datai. Point-point Motion Planning of Wheeled Mobile Manipulator[J]. Chinese Journal of Engineering, 2001, 23(1): 81-84. doi: 10.13374/j.issn1001-053x.2001.01.049

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Point-point Motion Planning of Wheeled Mobile Manipulator

doi: 10.13374/j.issn1001-053x.2001.01.049

Robotics Research Institute, UST Beijing, Beijing 100083

Received Date: 2000-05-11

Abstract

Abstract

Based on optimal region of wheeled mobile platform and the relation between mobility and manipulability of wheeled mobile manipulator, a new optimal criterion for wheeled mobile manipulator's pointpoint motion planning problem was proposed. The criterion includes not only the cost of mobile platform, the cost of manipulator, but also the cost which mobile manipulator takes to go away it's optimal configuration. Finally, the feasibility of the method was proved by simulation.
- wheeled mobile platform,
- point-point motion planning,
- optimal criterion