Dynamic modelling and genetic-based trajectory generation for non-holonomic mobile manipulators

被引：47

作者：

Chen, MW

Zalzala, AMS

机构：

来源：

CONTROL ENGINEERING PRACTICE | 1997年 / 5卷 / 01期

关键词：

robotics; trajectory planning; genetic algorithms; dynamics; obstacle avoidance;

D O I：

10.1016/S0967-0661(96)00205-5

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An approach for the modelling and motion planning of a mobile manipulator system with a non-holonomic constraint is presented in this paper. The Newton-Euler equations are used to obtain the complete dynamics of the system. Given the trajectory of the end-effector of the manipulator, near-optimal trajectories for the mobile platform and manipulator joints are obtained by using an efficient genetic algorithm with torque and manipulability optimisation and obstacle avoidance. Various simulations of a platform with a 3-link onboard manipulator are presented to show the effectiveness of the presented method.

引用

页码：39 / 48

页数：10

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