关键词: 移动操作机, 运动规划, 随机道路图, 非完整约束

Abstract: The mobile manipulator was applied to complete the part transfer in the assembly process. The motion planning problem in the presence of obstacles was studied for the mobile manipulator system with kinetic redundancy and subject to nonholonomic constraints. The whole task was divided into three subtasks: motion, grasp and transfer, different path planning methods were used for corresponding subtasks. The probabilistic roadmaps method was applied to solve the collaborative obstacle avoidance problem for mobile manipulators. First a simple path curve for the mobile platform that respected the nonholonomic constraints was planned. Then, taking the path curve as a position constraint, a roadmap was constructed by randomly selecting configuration of the manipulator. A free path for the mobile manipulator was obtained by roadmap search. The simulation results of the 2-D planar nonholonomic mobile manipulator were given to show the effectiveness of the proposed method.

Key words: mobile manipulators, motion planning, probabilistic roadmaps, nonholonomic constrains, collaborative obstacle avoidance