Journal of Astronautics ›› 2021, Vol. 42 ›› Issue (11): 1365-1376.doi: 10.3873/j.issn.1000-1328.2021.11.003

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Motion Planning for Mobile Robots Based Kinematic Hardware in the loop Simulation System

LIU Chen, LIU Yu, SONG Li bin, ZHANG Ji wen   

  1. 1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;2. Beijing Institute of Tracking and Telecommunications Technology, Beijing 100094, China

  • Received:2020-12-23 Revised:2021-04-01 Online:2021-11-15 Published:2021-11-15

Abstract: Aiming at the poor motion accuracy of the mobile robots based hardware in the loop simulation system and the need for the real time motion compensation of the mobile robots by the manipulator, a global planning method is proposed, which takes the super redundant manipulator as the planning object. This method equates the whole simulation system to a super redundant manipulator, and then adjusts its joint configuration according to its self motion, creating conditions for the follow up real time compensation control. Finally, a hardware in the loop simulation system is built and the algorithm is verified by the experiments on this system. The experimental results verify the effectiveness and the necessity of the proposed algorithm. 

Key words: Hardware in the loop simulation system, Super redundant manipulator, Path planning, Inverse kinematics

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