Kinematics Motion Planning of an Omnidirectional Mobile Manipulator Using DNA Algorithm

This paper presents a kinematics trajectory planning of an omnidirectional mobile manipulator using DNA algorithm. Combining an omnidirectional mobile platform and an onboard object recognition device makes this manipulator can move to any desired posture and then catch the desired object easily. A DNA (Deoxyribonucleic acid) algorithm is proposed to find the near optimal point-to-point configuration of the mobile manipulator moving from one pose to another, and an integrated trajectory planning method is presented to obtain the motion trajectories for the mobile platform and all the joints of the manipulator. Computer simulations are conducted to show the feasibility of the proposed method. Experimental results are performed to verify the efficacy of the proposed methods.