Motion planning towards tasks for a mobile manipulator with redundant DOFs

Aimed at the mobile manipulator of which with a 6-DOFs manipulator mounted on the platform, the self-restriction as well as the redundant problem of the whole system are analyzed systematically,, and the standard D-H method is used to establish the forward kinematics model of the manipulator. Doing by certain kind of targets, the self-restriction of the whole system is taken into account, we have analyzed the inverse kinematics of the system using the conception of working room, and a reasonable and effective plan for the freedom distribution is brought forward, also the grasp motion to the target is realized. Experiment results are presented to show the effectiveness of the proposed approach.