A New Repetitive Motion Planning Scheme Based on Gradient Descent for Omnidirectional Mobile Robot Manipulators

摘要

The repetitive motion planning (RMP) is an important issue in the study of robotics. In this paper, we provide a further investigation by proposing a new RMP scheme for omnidirectional mobile robot manipulators. On the basis of the gradient descent method, such a scheme depicted in the pseudoinverse-type formulation is theoretically analyzed and proven to realize the RMP of omnidirectional mobile robot manipulators. With two illustrative examples, comparative simulation results under a specific omnidirectional mobile robot manipulator are presented to verify the effectiveness of the proposed RMP scheme.