Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints

作者：Korayem Moharam Habibnejad^*; Rahimi H N; Nikoobin A

来源：Applied Mathematical Modelling, 2012, 36(7): 3223-3238.

DOI：10.1016/j.apm.2011.10.002

• Mobile manipulator
• Flexible link
• Flexible joint
• Mathematical modeling
• Trajectory planning

This paper is concerned with mathematical modeling and optimal motion designing of flexible mobile manipulators. The system is composed of a multiple flexible links and flexible revolute joints manipulator mounted on a mobile platform. First, analyzing on kinematics and dynamics of the model is carried out then; open-loop optimal control approach is presented for optimal motion designing of the system. The problem is known to be complex since combined motion of the base and manipulator, non-holonomic constraint of the base and highly non-linear and complicated dynamic equations as a result of the flexible nature of both links and joints are taken into account. In the proposed method, the generalized coordinates and additional kinematic constraints are selected in such a way that the base motion coordination along the predefined path is guaranteed while the optimal motion trajectory of the end-effector is generated. This method by using Pontryagin's minimum principle and deriving the optimality conditions converts the optimal control problem into a two point boundary value problem. A comparative assessment of the dynamic model is validated through computer simulations, and then additional simulations are done for trajectory planning of a two-link flexible mobile manipulator to demonstrate effectiveness and capability of the proposed approach.

• 出版日期2012-7