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ORIGINAL ARTICLE
Year : 2011  |  Volume : 1  |  Issue : 1  |  Page : 24-35

A novel method for trajectory planning of cooperative mobile manipulators


College of Electrical Engineering, Iran University of Sciences and Technology, Namak, Tehran, Iran

Correspondence Address:
Hossein Bolandi
College of Electrical Engineering, Iran University of Science and Technology, Narmak, P.O.Box 16844, Tehran
Iran
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Source of Support: None, Conflict of Interest: None


DOI: 10.4103/2228-7477.83518

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We have designed a two-stage scheme to consider the trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in the presence of static obstacles. In the first stage, with regard to the static obstacles, we develop a method that searches the workspace for the shortest possible path between the start and goal configurations, by constructing a graph on a portion of the configuration space that satisfies the collision and closure constraints. The final stage is to calculate a sequence of time-optimal trajectories to go between the consecutive points of the path, with regard to the nonholonomic constraints and the maximum allowed joint accelerations. This approach allows geometric constraints such as joint limits and closed-chain constraints, along with differential constraints such as nonholonomic velocity constraints and acceleration limits, to be incorporated into the planning scheme. The simulation results illustrate the effectiveness of the proposed method.


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