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

Figure 6

Circular planning profiles of the three-wheel mobile manipulator synthesized by TTZNN model (27). (a) Position files of the end-effector. (b) Position error of the end-effector in three dimensions. (c) Profiles of the mobile base for . (d) Trajectory with heading angle .

(a)

(b)

(c)

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