This article addresses the problem of the achievement of Operational Point to Point Tasks by mobile manipulators (MMs). An operational target point (tp) is the objective to be reached by the end-effector of a manipulator mounted on a wheeled mobile robot. The assigned task is realizable from many ways. Several potential feasible trajectories can be generated and several final postures of the robot can be selected to reach the tp. Dealing with the presented problem means finding the best way to reach tp. New singularity avoidance metric named Manipulability Percentage Index (MPI) is introduced in this article in order to place the mobile robot on areas guaranteeing regular reachability. The MPI is included in a trajectory planning process for reaching tp. The compromise between the minimum time for performing the task and the value of the MPI index is discussed.

本文解决了移动机械手 (MM) 实现操作点对点任务的问题。操作目标点 ( tp ) 是安装在轮式移动机器人上的机械手的末端执行器要达到的目标。分配的任务可以通过多种方式实现。可以生成几个潜在的可行轨迹，并且可以选择机器人的几个最终姿势来达到tp。处理出现的问题意味着找到达到tp的最佳方法。本文介绍了一种名为 Manipulability Percentage Index (MPI) 的新奇点回避度量，以便将移动机器人放置在保证常规可达性的区域上。MPI 包含在轨迹规划过程中，以达到tp。讨论了执行任务的最短时间和 MPI 索引值之间的折衷。