Multi-task continuous manipulation for mobile manipulator inspired by mechanism theory: a Path Kinematic Chain (PKC) method
发布时间：2026-09-28
点击次数：
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DOI码：
10.1016/j.cjme.2026.100279
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发表刊物：
Chinese Journal of Mechanical Engineering
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关键字：
移动机械臂；多任务操作；工作空间分析
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摘要：
The capability of robots to consecutively execute multi-task manipulation is essential for task adaptability. The challenge is that the configuration required for one task may hinder the execution of the next, causing interruptions. This work brings the concept of kinematic chains from mechanism theory into robot manipulation and proposes a novel method for multi-task continuous execution. Owing to the degrees of freedom of the mobile base and torso, each task path is treated as a rigid link and connected with others in the robot’s root coordinate frame. Therefore, the interdependence among tasks can be modeled as a Path Kinematic Chain (PKC). Then, the PKC can adaptively move to feasible workspace regions to obtain valid configurations, i.e., base sequences for tasks. To construct such regions, a Point Family Map is designed to convert configuration feasibility evaluation into a geometric relationship judgment, enabling integrated trajectory generation. This method can accommodate diverse task paths in kinematics, manipulator structures, and motion forms of mobile base and torso. Benchmarks demonstrate up to 96% reliability, outperforming baseline approaches. Physical experiments on service tasks validate its applicability.
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合写作者：
Sipu Ruan,Yazhe Luo
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第一作者：
Yifei Li
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论文类型：
期刊论文
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通讯作者：
Yong Tao,Diansheng Chen
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文献类型：
期刊
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是否译文：
否
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发表时间：
2026-03-27
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收录刊物：
SCI
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发布期刊链接：
https://www.sciencedirect.com/science/article/pii/S1000934526000684
