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

详细信息	查看全文 | 推荐本文 |

• 作者：Moharam Habibnejad Korayem^a ; ^{Hkorayem@iust.ac.ir} ; H.N. Rahimi^a ; A. Nikoobin^b
• 关键词：Mobile manipulator ; Flexible link ; Flexible joint ; Mathematical modeling ; Trajectory planning
• 刊名：Applied Mathematical Modelling
• 出版年：2012
• 期刊代码：6_0307904x
• 类别：cp
• 出版时间：July, 2012
• 卷：36
• 期：7
• 页码：3229-3244
• 文件大小：889 K

摘要

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鈥檚 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.