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"
}