Trajectory Generation for Mobile Manipulators
Foudil ABDESSEMED2010, Robot Manipulators Trends and Development
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Abstract
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Mobile robot navigation remains a challenging domain, particularly regarding path planning in cluttered environments subject to non-holonomic constraints. This work explores trajectory generation for mobile manipulators, emphasizing the kinematic representation of systems that integrate a mobile platform and articulated arm. A comparison between holonomic and non-holonomic systems discusses the complexities and solutions for trajectory following, collision avoidance, and joint saturation in both simple and complex scenarios.
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ABSTRACT Mobile robots that consist of a mobile platform with one or many manipulators, are of great interest in a number of applications. This paper presents a methodology for generating paths and trajectories for both the mobile platform and the manipulator that will take a system from an initial configuration to a pre-specified final one, without violating the nonholonomic constraint. The generated paths are of polynomial nature and therefore are continuous and smooth.
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Robot navigation is one of the basic problems in robotics. In general, the robot navigation algorithms are classified as global or local, depending on surrounding environment. In global navigation, the environment surrounding the robot is known and the path which avoids the obstacle is selected. In local navigation, the environment surrounding the robot is unknown, and sensors are used to detect the obstacles and avoid collision. In the past, a number of algorithms have been designed by many researchers for robot navigation problems. This paper presents software simulation of navigation problems of a mobile robot avoiding obstacles in a static environment using both classical and fuzzy based algorithms. The simulation environment is a menu-driven one where one can draw obstacles of standard shapes and sizes and assign the starting and ending points of the mobile robot. The robot will then navigate among these obstacles without hitting them and reach the specified goal point.
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