Whole Body Collaborative Planning Method for Legged Locomotion Manipulation System in Operation Process

摘要

The legged locomotion manipulation system (LMS) combines the powerful movement of the legged platform and the operation ability of the robotic manipulation arm, which can replace humans to perform dangerous tasks. This paper focuses on the legged locomotion manipulation system, composed of a quadruped locomotion platform with a six-degree-of-freedom (Dof) robotic arm. After the LMS completes movement tasks and reaches the designated position, the supporting foot point are not moved. The overall kinematics model is established with the parallel kinematics model of the legged LMS and the serial kinematics model of the robotic arm. In whole-body collaborative planning, the goal is to minimize the sum of the squares of all joint torques. With the constraints of whole-body kinematics and statics, dynamics, and stability, the trajectory optimization problem is converted into a nonlinear planning problem. By solving the nonlinear problem, we can get the optimal joint trajectory. Compared with independently planning trajectories of the quadruped locomotion platform and robotic arm, this algorithm can coordinate the motion of the whole joints, optimize the distribution, and reduce the system's power. Simulation experiments verify all algorithms.