TY - GEN
T1 - Evaluation of obstacle avoidance ability for redundant mobile manipulators
AU - Tanaka, Hiroshi
AU - Minami, Mamoru
AU - Mae, Yasushi
PY - 2005
Y1 - 2005
N2 - In this paper, we presents a criteria of obstacle avoidance of mobile manipulator, which is composed of redundant manipulator and mobile robot. Concerning con guration control study of redundant manipulators, avoidance manipulability ellipsoid and avoidance manipulability shape index have been sugge sted so far as an index to symbolize avoidance ability of manipulator's shape when the hand is tracking to a desired trajectory. While following the proposed criteria of obstacle avoidance ability, in this paper the concept is extended for mobile manipulator in order to discuss the avoidance ability of intermediate links for mobile operations. First, the avoidance manipulability ellipsoid and the avoidance manipulability shape index of a mobile manipulator are formulated to check their abilities. Then, the avoidance manipulability shape index is evaluated by the simulation.
AB - In this paper, we presents a criteria of obstacle avoidance of mobile manipulator, which is composed of redundant manipulator and mobile robot. Concerning con guration control study of redundant manipulators, avoidance manipulability ellipsoid and avoidance manipulability shape index have been sugge sted so far as an index to symbolize avoidance ability of manipulator's shape when the hand is tracking to a desired trajectory. While following the proposed criteria of obstacle avoidance ability, in this paper the concept is extended for mobile manipulator in order to discuss the avoidance ability of intermediate links for mobile operations. First, the avoidance manipulability ellipsoid and the avoidance manipulability shape index of a mobile manipulator are formulated to check their abilities. Then, the avoidance manipulability shape index is evaluated by the simulation.
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U2 - 10.1109/IECON.2005.1569173
DO - 10.1109/IECON.2005.1569173
M3 - Conference contribution
AN - SCOPUS:33749663247
SN - 0780392523
SN - 9780780392526
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1768
EP - 1773
BT - IECON 2005
T2 - IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
Y2 - 6 November 2005 through 10 November 2005
ER -