Path planning algorithm in wheeled mobile manipulators based on motion of arms

摘要

This work proposes an algorithm besides output feedback linearization method for controlling a wheeled mobile robot with two manipulators. To control such a mobile robot, three desired trajectories (or fixed points for regulation) are needed: two for the arms and one for the base. Improper choice in base path leads to singularity, low performance and failure. To prevent singularities and to attain a smooth motion, an algorithm is introduced as a local path planning process for the base. It consists of two parts which helps the robot to maintain the desired configuration. The first part of the algorithm mainly focuses on the position and orientation of the base in future time based on the arms configuration, and the second part adjusts the movement of the arms for obtaining a consistent motion. This maintenance reduces and preserves the norm of applied torques, which consequently leads to an increase in the performance of the robot and its dynamic load carrying capacity (DLCC). Also, it is no longer required to define a trajectory or an end point for the base movement since they will be calculated automatically by the algorithm.