Detail publikačního výsledku

Mobile manipulator - redundancy resolution and collision avoidance

HONZÍK, B.

Originální název

Mobile manipulator - redundancy resolution and collision avoidance

Anglický název

Mobile manipulator - redundancy resolution and collision avoidance

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova v angličtině

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

Autoři

HONZÍK, B.

Rok RIV

2011

Vydáno

01.01.2000

Nakladatel

University of Maribor

Místo

Maribor, Slovenia

Kniha

Proceedings of the 9th Int. Workshop on Robotics in Alpe-Adria-Danube Region

Strany od

59

Strany počet

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"
}