Hierarchical Planning Algorithm for Redundant Mobile Manipulators to Follow a Given Trajectory
2021 IEEE 11th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)(2021)
摘要
This paper presents a hierarchical planning algorithm for redundant mobile manipulators to follow a given trajectory. It can guarantee the manipulation capability of the manipulator and optimize the movement of the base. Firstly, we analyzed the distribution of the manipulability measure of the manipulator and adopted polynomials to fit the boundary of the feasible workspace in which the correspon...
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