This article presents a method for generating the locomotion of a mobile manipulator that globally minimizes the weighted generalized momentum. The method utilizes the calculus of variation setting to address the problem for which the optimal trajectory may be computed by solving the initial value problem of the system of ordinary differential equations rather than the two-point boundary value problem. Online optimal trajectory may then be input to a suitable tracking controller for controlling the robot in real time. Effectively, the robot closed-loop dynamics is shaped to the optimal system such that the locomotion minimizes the difference of the weighted generalized momentum and the assigned potential energy under the constraints imposed on by the tracking task, joint angle, and actuator torque limits. Desired locomotion behaviors may be achieved by properly adjusting the weighting, spring, and damping matrices. Exploiting the induced dynamical force from the cooperative motion of the constituent linkages through the momentum minimization basis, the robot is able to outperform conventional locomotion pattern actuated by the platform solely.

中文翻译：

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通过加权广义动量的全局最小化为移动机械手生成运动

本文提出了一种生成移动机械手运动的方法，该方法可全局最小化加权广义动量。该方法利用变分法设置求解常微分方程组的初值问题，而不是两点边值问题，从而解决了可以计算最优轨迹的问题。然后可以将在线最佳轨迹输入到合适的跟踪控制器以实时控制机器人。实际上，机器人闭环动力学被塑造成最优系统，使得在跟踪任务、关节角度和致动器扭矩限制施加的约束下，运动最小化加权广义动量和分配势能的差异。可以通过适当调整权重、弹簧和阻尼矩阵来实现所需的运动行为。通过动量最小化基础利用由组成连杆的协作运动产生的诱导动力，机器人能够胜过仅由平台驱动的传统运动模式。