抄録
3-dimensional trajectory planning using model predictive control with constraints is proposed for mobile manipulators. The proposed method employs Quadratic Programming (QP) with constraints for optimizing control inputs. The control inputs and outputs are limited corresponding to the hard ware spec of the mobile manipulator. The torque, the angle velocity, the mobile base velocity, the tip of hand velocity and acceleration are included in the constraints. The control optimization is performed in real-time. Real-time trajectory modification is demonstrated on a real mobile robot.
