Jerk Bounded Trajectory Planning For Non-Holonomic Mobile Manipulator

Abstract

Mobile manipulator systems comprising of a mobile platform with one or more manipulators are of great interest in a number of applications. This paper presents a modeling of the system without violating the nonholonomic constraints of the platform. Trajectory planning by soft motion and seventh order polynomial to control jerk acceleration, and velocity, is also presented. The hub torque required to move the manipulator according to a prescribed trajectory and the platform motor torque are also calculated for each trajectory.