Optimal stability of a redundant mobile manipulator via genetic algorithm

Abstract

Once the path of the vehicle and the desired task of the end-effector are predefined, in order to apply the optimal stability criterion, the manipulator should be redundant. In this paper, the goal is to find the position, angular velocity, and angular acceleration of the redundant link of the manipulator such that the entire system becomes optimally stable. By considering the full dynamic interaction between the manipulator and its vehicle, the stability issue becomes more complex. There are some measures of stability and one of them is the tire's upward force. This measure tries to equalize the upward forces of the tires that lead to optimal stability and better steer-ability. Optimizing the parameters of various engineering problems is a challenging issue. In this research, the optimal position, angular velocity, and angular acceleration of the redundant link are found by the genetic algorithm approach such that the upward forces of vehicle tires are nearly equal. Furthermore, the effectiveness of this procedure is shown by presenting an example.