The investigation of trajectory control for an anthropomorphic manipulator attached to a vehicle

Abstract

This paper concentrates on deriving an inverse kinematics solution of a manipulator attached to an aerial vehicle for real-time applications. Analyzing the vehicle's movement itself is not considered. The kinematics solution using Denavit-Hartenberg model was introduced. Adopting the resulted forward kinematics equations of the manipulator, the trajectory planning problem turns into an optimization task. For solving constrained complicated nonlinear functions, shuffled frog leaping search algorithm is suggested to get a global online solution of the design configurations with a weighted objective function subject to some constraints. It is a constrained metaheuristic and population-based approach. Moreover, it is able to solve the inverse kinematics problem considering the mobile platform, in addition to avoiding singularities, since it does not demand the inversion of a Jacobian matrix. Simulation experiments have been carried out for the trajectory planning of a six degree of freedom aerial manipulator, and the obtained results confirmed the feasibility and effectiveness of the suggested method.