Optimal Motion Planning for the Teaching Experimental Mobile Manipulator
An optimal motion planning based on minimum principle is presented to address the motion problem of the mobile manipulator in a sort of experimental system. In view of the characteristic of the practical experimental apparatus, the model of the manipulator is deduced based on the kinetic analysis and mathematic method. An optimal control scheme is then investigated to deal with the optimization problem of the motion planning for the manipulator, so as to guarantee the demand of the teaching experiment. Simulation verifies the control performance of the optimal control scheme for the optimal motion planning of the manipulator, and it helps improve the teaching experiment effect.
H. P. Zhou et al., "Optimal Motion Planning for the Teaching Experimental Mobile Manipulator", Applied Mechanics and Materials, Vols. 138-139, pp. 56-61, 2012