Research On The Motion Planning And Control Of Mobile Manipulator

A mobile manipulator in this study is a manipulator mounted on a mobile platform. The manipulator can achieve the ability to hold and manipulate something, and mobile platform extends its workspace through moving. This paper makes an investigation to the mobile manipulator , including the united differential kinematics model,motion planning and artificial intelligence control of the mobile manipulator.In the first instance, this paper analyses the kinematics and builds up the united differential kinematics model, based on Jacobian matrix, using geometry. According to the model, the preferred configuration of mobile manipulator is achieved. After getting the preferred configuration, the motion planning is optimized with a genetic algorithm, which consists of two-point and multi-point motion planning. The result of simulations proves the availability of this algorithm. A fuzzy-logic control of the manipulator and a fuzzy-neural network control of the mobile platform are combined to control the mobile manipulator. The membership function of fuzzy logic control is Gauss function. A fuzzy B-spline function neural network is proposed to control the mobile platform. The results of simulations show that the error is limited in a reasonable scale, and this control method can make the mobile manipulator's route tracking perfectly.