Abstract With the development of the robotic technology, Autonomous Mobile Manipulator (AMM) is increasingly used in more applications. Reasonable motion planning for AMM to maintain high manipulation capability is the prerequisite for the success of the mobile manipulation task. In this paper, the Capability Map (CM) of AMM that gives the distribution of the manipulability in cartesian space is first built. Then given the path of the end effector, we design a novel path planner for the mobile robot by querying CM online so that AMM keeps high manipulability. Moreover, a task-priority coordinated motion controller is developed to control the mobile robot and the manipulator to track their trajectories. In this controller, the trajectory of the manipulator is used as the primary task, and the trajectory of the mobile robot is treated as the constrained task. Simulation results show that the path of the mobile robot can be found online, and AMM follows the trajectories well.

中文翻译：

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一种新的基于能力图的自主移动机械臂协调运动规划器

摘要 随着机器人技术的发展，自主移动机械手（AMM）被越来越多地应用于越来越多的应用领域。合理的运动规划使 AMM 保持高操纵能力是移动操纵任务成功的前提。在本文中，首先构建了 AMM 的 Capability Map (CM)，它给出了笛卡尔空间中可操纵性的分布。然后给定末端执行器的路径，我们通过在线查询 CM 为移动机器人设计了一种新颖的路径规划器，使 AMM 保持高可操作性。此外，开发了任务优先级协调运动控制器来控制移动机器人和机械手跟踪它们的轨迹。在这个控制器中，以机械手的轨迹为主要任务，移动机器人的轨迹被视为受约束的任务。仿真结果表明，可以在线找到移动机器人的路径，并且AMM很好地遵循了轨迹。