Coordinated motion planning of the mobile redundant manipulator for processing large complex components.

The mobile redundant manipulator (MRM) shows a great advantage in its in situ high-precision assembly field of large complex components (LCCs), due to its high mobility, flexibility, and dexterity. However, the redundancy degree of freedom of the MRM makes its motion planning difficult. Furthermore, the inconsistent stiffness of different configurations of the MRM may cause poor manufacturing quality. Therefore, it is necessary to optimize the process pose with better stiffness performance during the motion planning. This paper proposes an integrated motion planning method to optimize the kinematics and stiffness performance of the MRM for LCCs' assembly and process. In addition to the multiple constraints such as joint angle, joint velocity, and singular posture avoidance, the time-varying normal direction of LCCs and the stiffness performance of MRM's configuration are considered in the optimization algorithm, by calculating the Roll-Pitch-Yaw angles (RPY angles) at each moment and defining the stiffness index. The simulation results illustrated that the proposed method can effectively plan the desired trajectories for the mobile platform and the manipulator separately. Compared with the non-stiffness constraint planning method, the proposed method enjoys superiority on stiffness performance. [ABSTRACT FROM AUTHOR]