Point-point Motion Planning of Wheeled Mobile Manipulator

Based on optimal region of wheeled mobile platform and the relation between mobility and manipulability of wheeled mobile manipulator, a new optimal criterion for wheeled mobile manipulator's pointpoint motion planning problem was proposed. The criterion includes not only the cost of mobile platform, the cost of manipulator, but also the cost which mobile manipulator takes to go away it's optimal configuration. Finally, the feasibility of the method was proved by simulation.