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Digital Library

of the European Council for Modelling and Simulation

 

Title:

Jerk Bounded Trajectory Planning For Non-Holonomic Mobile Manipulator

Authors:

Atef A. Ata, Amr El Zawawi, Mostafa A. E. Razek

Published in:

 

(2013).ECMS 2013 Proceedings edited by: W. Rekdalsbakken, R. T. Bye, H. Zhang  European Council for Modeling and Simulation. doi:10.7148/2013

 

ISBN: 978-0-9564944-6-7

 

27th European Conference on Modelling and Simulation,

Aalesund, Norway, May 27th – 30th, 2013

 

Citation format:

Atef A. Ata, Amr El Zawawi, Mostafa A. E. Razek (2013). Jerk Bounded Trajectory Planning For Non-Holonomic Mobile Manipulator, ECMS 2013 Proceedings edited by: W. Rekdalsbakken, R. T. Bye, H. Zhang, European Council for Modeling and Simulation. doi:10.7148/2013-0733

 

DOI:

http://dx.doi.org/10.7148/2013-0733

Abstract:

Mobile manipulator systems comprising of a mobile platform with one or more manipulators are of great interest in a number of applications. This paper presents a modeling of the system without violating the nonholonomic constraints of the platform. Trajectory planning by soft motion and seventh order polynomial to control jerk acceleration, and velocity, is also presented. The hub torque required to move the manipulator according to a prescribed trajectory and the platform motor torque are also calculated for each trajectory.

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