Design and Validation of New State Adjustment Scheme Based on Gradient Descent for Omnidirectional Mobile Robot Manipulators

Omnidirectional mobile robot manipulators have broad applications in engineering, and state adjustment is a critical issue in their motion planning. For omnidirectional mobile robot manipulators subject to physical constraints, a new velocity-level state adjustment scheme has been proposed and investigated. This scheme is based on a newly designed velocity-level performance metric using gradient descent method. The scheme is formulated as a quadratic programming problem and solved using numerical algorithms. Simulation results yield excellent outcomes, confirming the feasibility of the proposed scheme.