Motion Planning for Multiple Mobile Manipulator System in Complex Flipping Manipulation
CoRR(2023)
摘要
Multiple robot systems are favored for object manipulation and
transportation, especially for large objects. However, in more complex
manipulation such as flipping, these systems encounter a new challenge,
configuration disconnectivity of manipulators. Grasping objects by manipulators
will impose closed-chain constraints on the system, which in turn limits the
feasible motions of manipulators and further compromises the configuration
connectivity. Multiple mobile manipulator systems show much more flexibility in
object manipulation with the mobility of the mobile platform and have the
potential to address the above problem. In this paper, a novel planning
framework is proposed for complex flipping manipulation by incorporating
platform motions and regrasping. Firstly, two types of trajectories, mobile
manipulator planning and regrasping planning, are classified and can be
assigned different priorities for different tasks. Secondly, corresponding
planning methods are designed for each type of trajectory. Specifically, in
mobile manipulator planning, the configuration of the platform is determined
through optimization to ensure connectivity when the manipulator approaches
configuration boundaries. In regrasping planning, closed-chain constraints are
temporarily disregarded and the manipulation capabilities are prioritized to
facilitate subsequent planning. Finally, the structure of the overall planning
framework is provided. Experimental results demonstrate that the proposed
planner efficiently plans the motions of the system to accomplish flipping
manipulation. Additionally, a comprehensive experiment emphasizes the
significance of our planner in extending the capabilities of multiple mobile
manipulator systems in complex tasks.
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