Detail publikace

Mobile manipulator collision avoidance: a simulation study.

HONZÍK, B., ZEZULKA, F.

Originální název

Mobile manipulator collision avoidance: a simulation study.

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova v angličtině

mobile manipulator, redundancy resolution, collision avoidance, telepresence

Autoři

HONZÍK, B., ZEZULKA, F.

Rok RIV

2004

Vydáno

1. 1. 2000

Nakladatel

SSAKI

Místo

High Tatras

ISBN

80-7099-510-6

Kniha

Proceedings of the International Carpathian Control Conference

Strany od

567

Strany do

570

Strany počet

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"
}