Motion Planning of a Nonholomonic Mobile Manipulator for Moving Object Grasping

Abstract:

This paper studies a nonholonomic mobile manipulator that consists of a wheeled mobile platform with a mounted serial manipulator. It is designed and developed to navigate autonomously in handling moving objects subjected to nonholonomic constraints. A camera is mounted on the front of the platform and employed to identify and collect information about distance, velocity and direction of the object. With that information collected, a motion planning system determines the preferred operation region and the obstacle-avoidance area, and thus generates the expected trajectory of the mobile manipulator. Experimental results are shown that the mobile manipulator can identify the target, generate trajectories and grasp the moving object autonomously.

• Periodical: Applied Mechanics and Materials (Volumes 380-384)
• Pages: 591-594
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.380-384.591
• Online since: August 2013
• Authors: Nai Jian Chen, Fang Zhen Song, Hong Hua Zhao, Ying Jun Li
• Keywords: Mobile Manipulator, Motion Planning, Moving Object

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