Publication detail

Mobile manipulator collision avoidance: a simulation study.

HONZÍK, B., ZEZULKA, F.

Original Title

Mobile manipulator collision avoidance: a simulation study.

Type

conference paper

Language

English

Original Abstract

The paper presents a simulation study of a mobile manipulator (MM), which 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). Collision avoidance algorithm is designed for the omnidirectional (free flying) moving platform and for the platform with non-holonomic constraints.

Key words in English

mobile manipulator, redundancy resolution, collision avoidance, telepresence

Authors

HONZÍK, B., ZEZULKA, F.

RIV year

2004

Released

1. 1. 2000

Publisher

SSAKI

Location

High Tatras

ISBN

80-7099-510-6

Book

Proceedings of the International Carpathian Control Conference

Pages from

567

Pages to

570

Pages count

4

BibTex

@inproceedings{BUT6918,
  author="Bohumil {Honzík} and František {Zezulka}",
  title="Mobile manipulator collision avoidance: a simulation study.",
  booktitle="Proceedings of the International Carpathian Control Conference",
  year="2000",
  pages="4",
  publisher="SSAKI",
  address="High Tatras",
  isbn="80-7099-510-6"
}