Trajectory planning for mobile manipulators with vibration reduction

摘要

A new method of online trajectory planning for mobile manipulators using the extended Jacobian approach, taking into account state and control constraints, allowing the mobile manipulator to reduce the arm vibrations is presented. The proposed approach is based on the concept of virtual control which scales the trajectory preventing robot controls from changing rapidly and ensuring that the control constraints are fulfilled. The simulation results presenting the features of the developed algorithm have been shown. The effectiveness of the method in vibration reduction is confirmed by an experiment involving a KUKA youBot mobile robot.