A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application

Figure 5

Simulation results about repeatable optimization of kinematic energy system with TTZNN solver when the end-effector is required to complete a circular path. (a) Motion trajectories with the entire mobile manipulator. (b) Vertical view for entire mobile manipulator. (c) Profiles of the desired trajectory and actual path of the end-effector.

(a)

(b)

(c)