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Digital Library of the
European Council for Modelling and Simulation |
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Title: |
Jerk
Bounded Trajectory Planning For Non-Holonomic
Mobile Manipulator |
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Authors: |
Atef
A. Ata, Amr El Zawawi, Mostafa A. E. Razek |
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Published in:
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(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 |
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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 |
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DOI: |
http://dx.doi.org/10.7148/2013-0733 |
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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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Full
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