Open AccessGeodesic Approach for an Efficient Trajectory Planning of Mobile Robot Manipulators
Author(s) -
Pradip Kumar Sahu,
Bibhuti Bhusan Biswal
Publication year - 2019
Publication title -
international journal of mathematical, engineering and management sciences
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.228
H-Index - 10
ISSN - 2455-7749
DOI - 10.33889/ijmems.2019.4.5-094
Subject(s) - geodesic , kinematics , mobile robot , mobile manipulator , robot kinematics , computer science , workspace , motion planning , mathematics , robot end effector , solving the geodesic equations , computer vision , trajectory , cartesian coordinate system , artificial intelligence , robot , geometry , classical mechanics , physics , astronomy
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.