Determination of the base position and working area for mobile manipulators

Abstract

Purpose – The purpose of this paper is to determine the base position and the largest working area for mobile manipulators. The base position determines the workspace of the mobile manipulator, particularly when the operation mode is intermittent (i.e. the mobile platform stops when the manipulator conducts the task). When the base of the manipulator is in the intersection area of the Base’s Workable Location Spaces (BWLSes), the end effector (EE) can reach all path points. In this study, the intersection line of BWLSes is calculated numerically, and the largest working area is determined using the BWLS concept. The performance of this method is validated with simulations on specific surface segments, such as plane, cylinder and conical surface segments. Design/methodology/approach – The BWLS is used to determine the largest working area and the base position in which the mobile manipulator can reach all path points with the objective of reducing off-line planning time. Findings – Without considering the orientation of the EE, the base position and the working area for the mobile manipulator are determined using the BWLS. Compared to other methods, the proposed algorithm is beneficial when the planning problem has six dimensions, ensuring the reachability and stability of the EE. Originality/value – The algorithm needs no manual configuration, and its performance is investigated for typical surfaces in practical applications.