Dynamic modelling and genetic-based trajectory generation for non-holonomic mobile manipulators

Abstract An approach for the modelling and motion planning of a mobile manipulator system with a non-holonomic constraint is presented in this paper. The Newton-Euler equations are used to obtain the complete dynamics of the system. Given the trajectory of the end-effector of the manipulator, near-optimal trajectories for the mobile platform and manipulator joints are obtained by using an efficient genetic algorithm with torque and manipulability optimisation and obstacle avoidance. Various simulations of a platform with a 3-link onboard manipulator are presented to show the effectiveness of the presented method.

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