Trajectory planning for a reconfigurable mobile robot in mobile manipulating mode

@article{Wang2014TrajectoryPF,
  title={Trajectory planning for a reconfigurable mobile robot in mobile manipulating mode},
  author={Wei Min Wang and Zhao Lei},
  journal={Proceeding of the 11th World Congress on Intelligent Control and Automation},
  year={2014},
  pages={42-47}
}
The trajectory planning in the case of grasping a space target is researched in this paper for a reconfigurable mobile robot, Joint Locomotion - 2 (JL-2), in the Mobile Manipulating (MM) mode. The trajectory is composed of three segments, including the robot locomotion trajectory in plane generated by a cubic polynomial function, the trajectories of the end-effector adjusting its posture and approaching the target. Moreover, the forward and inverse kinematics of JL-2 with 8 DOFs is established… CONTINUE READING