Chen, M.W. and Zalzala, A.M.S. (1995) Dynamic Modelling and Genetic- Based Motion Planning of Mobile Manipulator Systems with Nonholonomic Constraints. Research Report. ACSE Research Report 600 . Department of Automatic Control and Systems Engineering
Abstract
An approach for modelling and motion planning of a mobile manipulator system with nonholonomic 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 mobile platform and manipulator joints are obtained by using an efficient genetic algorithm with torque and manipulability optimisation and obstacle avoidance. An obstacle avoidance scheme is presented by applying geometric analysis. Various simulations of a platform with a 3-link onboard manipulator are presented to show the effectiveness of the presented methods.
Metadata
Item Type: | Monograph |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | The Department of Automatic Control and Systems Engineering research reports offer a forum for the research output of the academic staff and research students of the Department at the University of Sheffield. Papers are reviewed for quality and presentation by a departmental editor. However, the contents and opinions expressed remain the responsibility of the authors. Some papers in the series may have been subsequently published elsewhere and you are advised to cite the later published version in these instances. |
Keywords: | robotics, motion planning, genetic algorithms, obstacle avoidance. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) > ACSE Research Reports |
Depositing User: | MRS ALISON THERESA BARNETT |
Date Deposited: | 17 Sep 2014 11:12 |
Last Modified: | 27 Oct 2016 04:16 |
Status: | Published |
Publisher: | Department of Automatic Control and Systems Engineering |
Series Name: | ACSE Research Report 600 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:80596 |