Mobile manipulators have been employed in many applications which are usually performed by multiple fixed-base robots or a large-size system, thanks to the mobility of the mobile base. However, the mobile base also brings redundancies to the system, which makes trajectory planning more challenging. One class of problems recently arising from mobile 3D printing is the trajectory-continuous tasks, in which the end-effector is required to follow a designed continuous trajectory (time-parametrized path) in task space. This paper formulates and solves the optimal trajectory planning problem for mobile manipulators under end-effector trajectory continuity constraint, which allows considerations of other constraints and trajectory optimization. To demonstrate our method, a discrete optimal trajectory planning algorithm is proposed to solve mobile 3D printing tasks in multiple experiments.

翻译：移动机械臂凭借其移动基座的机动性，已被广泛应用于通常由多个固定基座机器人或大型系统完成的任务中。然而，移动基座也带来了系统冗余性，这使得轨迹规划更具挑战性。近年来移动三维打印领域出现的一类问题是轨迹连续型任务，这类任务要求末端执行器在工作空间中沿预设连续轨迹（时间参数化路径）运动。本文提出并解决了移动机械臂在末端执行器轨迹连续性约束下的最优轨迹规划问题，该框架可兼容其他约束条件与轨迹优化。为验证所提方法，我们提出离散最优轨迹规划算法，并在多组实验中成功应用于移动三维打印任务。