Data and code for engineering task-prior knowledge-guided planning for pose-constrained alignment of low-DOF mobile manipulators

The dataset includes MATLAB scripts, a Python benchmark script, processed numerical results, and representative trajectory outputs for evaluating an engineering task-prior knowledge-guided planning framework. The files support task-executable workspace evaluation of an RPPR low-DOF mobile manipulator, tool-point workspace analysis, two-dimensional benchmark comparison, representative PGBA alignment simulations, trajectory generation, and MATLAB-Adams virtual prototype verification.

The dataset includes processed results for the nine representative alignment tasks, trajectory-related outputs, and numerical results used to support the main tables and figures in the manuscript. The dataset is intended to improve the transparency and reproducibility of the reported simulation-based evaluation. The conclusions supported by these files are limited to algorithmic evaluation and virtual prototype verification.