Whole-Body Inverse Kinematics and Operation-Oriented Motion Planning for Robot Mobile Manipulation

High DoF mobile manipulation of robots is a nonlinear, nonchain redundant problem. In this article, we focus on two subissues of robot mobile manipulation: whole-body inverse kinematics (whole-body IK) and operation-oriented motion planning (OOMP). Whole-body IK solves the robot arm joint configurat...

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Veröffentlicht in:	IEEE transactions on industrial informatics 2024-12, Vol.20 (12), p.14239-14248
Hauptverfasser:	Jin, Tianlei, Zhu, Hongwei, Zhu, Jiakai, Zhu, Shiqiang, He, Zaixing, Zhang, Shuyou, Song, Wei, Gu, Jason
Format:	Artikel
Sprache:	eng
Schlagworte:	Artificial neural networks Configuration management Degrees of freedom Design optimization Inverse kinematics Kinematics Manipulators Masks Mobile manipulation Motion planning Network management systems neural network optimization (NNO) Neural networks Obstacle avoidance operation-oriented motion planning (OOMP) Optimization Planning Robot arms Robot dynamics Robot kinematics Robots Target masking Trajectory Trajectory optimization whole-body inverse kinematics
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