【摘要】 基于轮式移动机械手的移动性与操作性间的关系和轮式移动平台的优化运动区域， 提出了一种新的轮式移动机械手点一点运动规划问题的优化准则，此准则不但包括移动平台的 运动代价和机械手的代价，而且还包括移动机械手偏离优化构形所需的运动代价．最后通过仿 真证明了此协调方法的可行性．更多还原

【Abstract】 Based on optimal region of wheeled mobile platform and the relation between mobility and ma- nipulability of wheeled mobile manipulator, a new optimal criterion for wheeled mobile manipulator’s point- point motion planning problem was proposed. The criterion includes not only the cost of mobile platform, the cost of manipulator, but also the cost which mobile manipulator takes to go away it’s optimal configuration. Finally, the feasibility of the method was proved by simulation.更多还原