I have a 6 DOF arm robot with a mobile base, and a given x/y/z/quaternion vector that the end effector must match. I am to determine the most optimal position of the mobile base such that an IK solution for the arm can be constructed from the end effector vector. I already have an IK method for the arm alone, but not one that includes the mobile base.
Not to mention, there is a collision aspect to this too. There is collision that the arm must avoid around the vector, which can easily be filtered with my simulator, but is just something that must be considered. Could anybody point out any algorithms that could possibly help? Thank you for your time.