Publication result detail

Simulation of the kinematically redundant mobile manipulator

HONZÍK, B.

Original Title

Simulation of the kinematically redundant mobile manipulator

English Title

Simulation of the kinematically redundant mobile manipulator

Type

Paper in proceedings (conference paper)

Original Abstract

The mobile manipulator consists of the manipulator arm mounted on the mobile platform. This system is kinematically redundant, formed by the addition of the degrees of freedom of the platform to those of the arm. The task considered in this study is that the gripper of the manipulator is guided by a human operator in real-time. Paper describes the simulation and visualization of such robotic system with the stress on the way how it was implemented rather than on the theoretical background of the problem itself. Presented approach can be applied in the similar fashion to other robotic or mechatronic systems.

English abstract

The mobile manipulator consists of the manipulator arm mounted on the mobile platform. This system is kinematically redundant, formed by the addition of the degrees of freedom of the platform to those of the arm. The task considered in this study is that the gripper of the manipulator is guided by a human operator in real-time. Paper describes the simulation and visualization of such robotic system with the stress on the way how it was implemented rather than on the theoretical background of the problem itself. Presented approach can be applied in the similar fashion to other robotic or mechatronic systems.

Key words in English

mobile manipulator, kinematical redundancy, simulation

Authors

HONZÍK, B.

Released

01.01.2000

Publisher

VŠCHT Praha

Location

Praha

ISBN

80-7080-401-7

Book

Matlab 2000

Pages from

91

Pages count

5

BibTex

@inproceedings{BUT6947,
  author="Bohumil {Honzík}",
  title="Simulation of the kinematically redundant mobile manipulator",
  booktitle="Matlab 2000",
  year="2000",
  pages="5",
  publisher="VŠCHT Praha",
  address="Praha",
  isbn="80-7080-401-7"
}