Modelling-and-Motion-Planning-Research-of-Wheeled-Mobile-Manipulator

Summary

针对解决轮式移动机械臂在复杂环境中执行灵巧作业的需求，开展了面向冗余轮式移动机械臂的考虑任务优先级的位形优化研究。
首先建立了整机运动学模型，然后基于任务优先级框架开展了面向车-臂双轨迹跟踪、避奇异位形、避关节极限等多任务目标的位形优化的研究，最后进行了复杂工况仿真，验证了方法的有效性。

Name		Name	Last commit message	Last commit date
Latest commit History 6 Commits
Wheel_Mobile_Manipulator_URDF		Wheel_Mobile_Manipulator_URDF
model_solidworks		model_solidworks
Derivative_Jaco.m		Derivative_Jaco.m
Jaco_pinv.m		Jaco_pinv.m
README.md		README.md
Simulink_WMM.slx		Simulink_WMM.slx
Simulink_WMM.slx.original		Simulink_WMM.slx.original
a_WMM_main.m		a_WMM_main.m
a_data_deal.m		a_data_deal.m
a_plot3_double.m		a_plot3_double.m
a_plot_abnormal.m		a_plot_abnormal.m
a_plot_double.m		a_plot_double.m
a_plot_qlim.m		a_plot_qlim.m
a_traj_test.m		a_traj_test.m
build_DH_table_KinovaG3.m		build_DH_table_KinovaG3.m
build_Jaco_DWMR_base.m		build_Jaco_DWMR_base.m
build_Jaco_WMM.m		build_Jaco_WMM.m
build_Jaco_manipulator.m		build_Jaco_manipulator.m
build_Phi_DWMR.m		build_Phi_DWMR.m
build_T.m		build_T.m
build_qlim_KinovaG3.m		build_qlim_KinovaG3.m
readme.txt		readme.txt
traj_plan_3priority.m		traj_plan_3priority.m
traj_plan_3x.m		traj_plan_3x.m
traj_plan_5x.m		traj_plan_5x.m
traj_plan_circle.m		traj_plan_circle.m
traj_plan_double2.m		traj_plan_double2.m
traj_plan_ee_8.m		traj_plan_ee_8.m
traj_plan_ee_circle.m		traj_plan_ee_circle.m
traj_plan_scene.m		traj_plan_scene.m