A Trajectory Tracking Algorithm Based on Interior Point Method for A Class of Mobile Manipulators

Abstract

At present, due to the high redundancy and strong coupling characteristics of mobile manipulator systems, there are few and in-depth studies on coordinated motion planning. Aiming at the above problems, this paper proposes a coordinated control algorithm that can track the desired trajectory of the end-effector based on a class of 5-DOF mobile manipulators. The algorithm takes the power consumption and trajectory stability of the entire system as the optimization objectives, and sets the function of the selected optimization objective on the desired trajectory, and performs optimization based on the interior point method of convex optimization to converge to the optimal solution faster. Finally, the system is simulated to verify the correctness and effectiveness of the control algorithm.