Publication result detail

Mobile manipulator for telepresence

HONZÍK, B.

Original Title

Mobile manipulator for telepresence

English Title

Mobile manipulator for telepresence

Type

Paper in proceedings (conference paper)

Original Abstract

The paper presents a simulation study of a mobile manipulator (MM), which is used for telepresence applications. The MM consists of a 6-DOF manipulator arm mounted on a 3-DOF mobile platform, the resulting system is therefore kinematically redundant. The manipulator gripper is controlled in real-time by a human operator. The MM should be capable of handling objects in its working area while simultaneously avoiding possible collisions of the platform and obstacles (static and/or moving). In order to guarantee the best possible gripper positioning precision, the platform should be stationary, if the 6-DOF manipulator is able to handle the given task from the current platform position, and move only in the case, when the goal approaches or is outside the manipulator's workspace boundary. Both presented redundancy resolution and collision avoidance algorithms suit this requirement.

English abstract

The paper presents a simulation study of a mobile manipulator (MM), which is used for telepresence applications. The MM consists of a 6-DOF manipulator arm mounted on a 3-DOF mobile platform, the resulting system is therefore kinematically redundant. The manipulator gripper is controlled in real-time by a human operator. The MM should be capable of handling objects in its working area while simultaneously avoiding possible collisions of the platform and obstacles (static and/or moving). In order to guarantee the best possible gripper positioning precision, the platform should be stationary, if the 6-DOF manipulator is able to handle the given task from the current platform position, and move only in the case, when the goal approaches or is outside the manipulator's workspace boundary. Both presented redundancy resolution and collision avoidance algorithms suit this requirement.

Key words in English

mobile manipulator, redundant manipulator, collision avoidance, linear programming

Authors

HONZÍK, B.

RIV year

2011

Released

01.01.2000

Publisher

PC-DIR Real, s.r.o.

Location

Brno

ISBN

80-214-1641-6

Book

International Summer School Artificial Intelligence in Control and Measurement

Pages from

29

Pages count

8

BibTex

@inproceedings{BUT3320,
  author="Bohumil {Honzík}",
  title="Mobile manipulator for telepresence",
  booktitle="International Summer School Artificial Intelligence in Control and Measurement",
  year="2000",
  pages="8",
  publisher="PC-DIR Real, s.r.o.",
  address="Brno",
  isbn="80-214-1641-6"
}