A novel coordinated motion planner based on capability map for autonomous mobile manipulator

With the development of the robotic technology, Autonomous Mobile Manipulator (AMM) is increasingly used in more applications. Reasonable motion planning for AMM to maintain high manipulation capability is the prerequisite for the success of the mobile manipulation task. In this paper, the Capability Map (CM) of AMM that gives the distribution of the manipulability in cartesian space is first built. Then given the path of the end effector, we...