| 轮式移动机械手的点-点运动规划方法 |
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| 引用本文： | 张硕生,余达太.轮式移动机械手的点-点运动规划方法[J].北京科技大学学报,2001,23(1):81-84. |
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| 作者姓名： | 张硕生 余达太 |
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| 作者单位： | 北京科技大学机器人研究所, |
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| 摘 要： | 基于轮式移动机械手的移动性与操作性间的关系和轮式移动平台的优化运动区域，提出了一种新的轮式移动机械手点－点运动规划问题的优化准则，此准则不但包括移动平台的运动代价和机械手的代价，而且还包括移动机械手偏离优化构所需的运动代价，最后通过仿真证明了此协调方法的可行性。
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| 关 键 词： | 轮式移动机械手 点－点运动规划 优化准则 移动平台 移动性 操作性 运动代价 |
| 修稿时间： | 2000年5月11日 |
Point-point Motion Planning of Wheeled Mobile Manipulator |
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| ZHANG Shuosheng,YU Datai.Point-point Motion Planning of Wheeled Mobile Manipulator[J].Journal of University of Science and Technology Beijing,2001,23(1):81-84. |
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| Authors: | ZHANG Shuosheng YU Datai |
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| Abstract: | Based on optimal region of wheeled mobile platform and the relation between mobility and manipulability of wheeled mobile manipulator, a new optimal criterion for wheeled mobile manipulator's point-point motion planning problem was proposed. The criterion includes not only the cost of mobile platform, the cost of manipulator, but also the cost which mobile manipulator takes to go away it's optimal configuration. Finally, the feasibility of the method was proved by simulation. |
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| Keywords: | wheeled mobile platform point-point motion planning optimal criterion |
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