Detail publikace

Mobile manipulator – redundancy resolution and collision avoidance

HONZÍK, B.

Anglický název

Mobile manipulator – redundancy resolution and collision avoidance

Typ

Stať ve sborníku v databázi WoS či Scopus

Jazyk

en

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.

Vydáno

2000-01-01

Nakladatel

University of Maribor

Místo

Maribor, Slovenia

Kniha

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

Strany od–do

59–

Počet stran

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"
}