轮式移动机械手的多点运动规划方法

基于轮式移动机械手的移动与操作间的关系和轮式移动平台的优化运动区域，提出了一个新的轮式移动机构手多点运动规划问题的优化准则。此准则具有明确的物理意义，不但包括移动平台的运动代价、机械手的运动代价而且还包括移动机械手偏离优化构形、交换构形偏离优化值所需的运动代价，最后通过仿真证明了此协调方法的可行性。

Multi-point Motion Planning of Wheeled Mobile Manipulator

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 multi-point motion planning problem was proposed. The criterion has explicit meaning and includes not only the cost of mobile platform, the cost of manipulator, but also the cost which mobile manipulator takes to go away from it's optimal configuration and the cost which commutation configuration takes to go away from it's optimal value. Finally, the feasibility of the method was proved by simulation.