Abstract
In this paper, the geodesic approach has been employed for an effective, optimal, accurate and smooth trajectory planning of a mobile robot manipulator mechanism. Generally, geodesic can be described as the shortest curvature between two loci on a Riemannian manifold. In order to attain the planned end-effector motion, Riemannian metrics has been consigned to the forward kinematics of mobile robot wheel as well as the mobile robot manipulator workspace. The rotational angles of wheel and joint kinematic parameters are chosen as local coordinates of spaces to represent Cartesian trajectories for mobile wheel rotation trajectories and joint trajectories respectively. The geodesic equalities for a given set of boundary conditions are evaluated for the chosen Riemannian metrics and the computational results of the geodesic equations have been shown. So as to verify and validate the efficiency of the chosen geodesic scheme, the method has been implemented for the motion planning and optimization of a mobile robot with a simple 3R manipulator installed upon its platform.
Highlights
Nowadays, there have been tremendous applications of mobile robots in various fields of manufacturing, assembly, inspection, space exploration, mining, marine, education, etc
The overall simulation results of motion planning for the mobile wheel rotation as well as the end-effector trajectory optimization by employing the proposed geodesic approach favors the optimality, exactness, and smoothness the of the mobile robot motion
An effective, efficient and optimal motion planning of a mobile robot with precision and smoothness can be performed by implementing a geodesic scheme
Summary
There have been tremendous applications of mobile robots in various fields of manufacturing, assembly, inspection, space exploration, mining, marine, education, etc. In critical and uncontrollable areas like space exploration, mining, marine, etc., the motion planning of a mobile robot and its manipulator is challenging and tough. The demand arises for optimal motion planning of a mobile robot and its manipulator end effector. The optimal motion planning mainly focuses in providing an efficient trajectory of the manipulator and wheel for the desired task persistently with more optimality, accuracy and smoothness. The NP hard problem of manipulator inverse kinematics and this has to be a difficult task due to the evaluation of very lengthy equations. The demand arises for the study of the robot work volume, trajectory generation and optimization, motion control, etc
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