In this paper, a trajectory planning method of a mobile manipulator is presented. We derive the dynamics of the mobile manipulator considering it as the combined system of the manipulator and the mobile platform. The planning problem is formulated as an optimal control problem. To solve the problem, we use the concept of the order of priority. A gradient-based iterative algorithm which synthesi...

Step response is widely used as the performance index of controlled systems. Thus, the ideal system would be one that has an output which approaches to the step signal quickly without error or over-shoot. However, if the output of an actual plant converges to the reference signal in a very short period, it can be dangerous to the surrounding environment as well as the operators. Furthermore, th...

The purpose of the research, results which are presented in article, is analytical synthesis law control a wheeled mobile robot while it moves along trajectory specified by reference points on surface an inertial coordinate system. analysis existing various approaches to formation given movement robot, based different mathematical formulation problem, carried out. To achieve this goal, motion c...

Optimal motion planning along prescribed paths can be solved with several techniques, but most of them do not take into account the wrenches exerted by end-effector when in contact environment. When a dynamic model environment is available, no consolidated methodology exists to consider effect interaction. Regardless specific performance index optimize, this article proposes strategy include ex...