Trajectory generation for operational task execution with manipulability analysis

摘要

The Robuter/ULM mobile manipulator is a system, including differential drive mobile robot, carrying an anthropomorphic manipulator. The mobility is insured by the platform, in order to make the articulated system able to act outside its workspace. Operational task execution (OTE) means in this article, imposing the initial situation of the whole system (joints angles of the articulated system, together with the position and the orientation of the mobile robot), and a point defined in the operational space (task point), as a target. This kind of tasks can be executed with several ways, because the addition of the mobile robot to the manipulator creates redundancy. This paper presents the simulation of the Random Profile Approach (R.P.A), on the RobuTER/ULM mobile manipulator, for OTE, with finding time optimal trajectory, considering kinematic constraints. The task point must also be reached with the end effector (EF) of the manipulator. We find thus, the adequate position of the mobile system, with maximizing the manipulability, and integrating this parameter on searching the time optimal trajectory process, with R.P.A.