Publication detail

Mobile manipulator - redundancy resolution and collision avoidance

HONZÍK, B.

Original Title

Mobile manipulator - redundancy resolution and collision avoidance

Type

conference paper

Language

English

Original Abstract

The mobile manipulator (MM) consists of the manipulator arm mounted on the mobile platform. This system is kinematically redundant, formed by the addition of the degrees of freedom (DOF) of the platform to those of the arm. The task considered in this study is that the gripper of the MM is guided by a human operator in real-time. Redundancy resolution of the MM and collision avoidance of the platform are solved locally (on-line). The obstacle avoidance algorithm is based on the generalized potential Żelds, which depend on robot's velocity as well as its position. Paper presents new technique of computation of generalized potentials using linear programming. The choice of the suitable coordinate frame, in which the MM gripper is controlled, is discussed.

Key words in English

mobile manipulator, redundant manipulator, collision avoidance, linear programming, telepresence

Authors

HONZÍK, B.

RIV year

2004

Released

1. 1. 2000

Publisher

University of Maribor

Location

Maribor, Slovenia

Pages from

59

Pages to

64

Pages count

6

BibTex

@inproceedings{BUT6915,
  author="Bohumil {Honzík}",
  title="Mobile manipulator - redundancy resolution and collision avoidance",
  booktitle="Proceedings of the 9th Int. Workshop on Robotics in Alpe-Adria-Danube Region",
  year="2000",
  pages="6",
  publisher="University of Maribor",
  address="Maribor, Slovenia"
}