Dynamic Modelling and Genetic- Based Motion Planning of Mobile Manipulator Systems with Nonholonomic Constraints

An approach for modelling and motion planning of a mobile manipulator system with nonholonomic constraint is presented in this paper. The Newton-Euler equations are used to obtain the complete dynamics of the system. Given the trajectory of the end-effector of the manipulator, near-optimal trajectories for mobile platform and manipulator joints are obtained by using an efficient genetic algorithm with torque and manipulability optimisation and obstacle avoidance. An obstacle avoidance scheme is presented by applying geometric analysis. Various simulations of a platform with a 3-link onboard manipulator are presented to show the effectiveness of the presented methods