Generalized path generation for a mobile manipulator

We present a generalized path generation algorithm for a nonholonomic mobile manipulator built from a n joint manipulator mounted on a nonholonomic mobile platform. The anipulator end-effector path is imposed by the task whereas the natural redundancy of the system is used to avoid singularities. We describe the algorithm which calculates the generalized coordinates for both the manipulator and the platform as a function of the operational coordinates of the end-effector location (position and orientation). It is based on a norm minimization for a direct differential kinematic model combined with a gradient descent method. Simulations have been realized on a planar mobile manipulator, made of a double-pendulum mounted on the platform.