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Point-point Motion Planning of Wheeled Mobile Manipulator

ZHANG Shuosheng, YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083)  
Based on optimal region of wheeled mobile platform and the relation between mobility and ma- nipulability of wheeled mobile manipulator, a new optimal criterion for wheeled mobile manipulator's point- point motion planning problem was proposed. The criterion includes not only the cost of mobile platform, the cost of manipulator, but also the cost which mobile manipulator takes to go away it's optimal configuration. Finally, the feasibility of the method was proved by simulation.
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