Motion Planning And Coordinated Control For Mobile Manipulators

摘要

Mobile manipulators have attracted a lot of interest recently. This paper discusses the development of mobile manipulators in recent years in the aspect of motion planning, modeling and control and coordination between mobile platform and manipulator. In this paper, quite a few problems in this field were presented and relative solving methods and results were briefly introduced. A hierarchical intelligent controller based on neural network is introduced for the coordinating control of the mobile manipulator, which mimics human behavior. This method has been applied on the Hebut-II mobile robot platform. Results show it can work well. At last, some possible issues for future research are given in conclusion