The paper discusses the challenge of trajectory planning in mobile manipulators, particularly for tasks requiring a continuous trajectory from the end-effector, such as 3D printing. The mobility of the mobile base introduces complexities in the system, making trajectory planning more challenging. The paper proposes a method for planning optimal trajectories in such tasks, including the formulation of the problem using configuration spacetime and finding the optimal trajectory numerically.
Publication date: 22 Sep 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2309.12251
