Method of synthesis of optimal grip trajectories of a manipulator of an autonomous mobile robot

Abstract

The features of the dynamics of an autonomous mobile robot of variable configuration with a relative motion of the manipulator are considered. To effectively perform technological operations by the AMR manipulator in extreme previously unknown conditions, it is advisable at the design stage to develop a database containing the optimal sequences of movements along generalized coordinates that ensure the movement of the gripper between the given initial and final points of the working space. Figs.: 3. Tabl.: 2. Refs.: 20 titles.