Evaluation of obstacle avoidance ability for redundant mobile manipulators

Hiroshi Tanaka, Mamoru Minami, Yasushi Mae

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIECON 2005
Subtitle of host publication31st Annual Conference of IEEE Industrial Electronics Society
Pages1768-1773
Number of pages6
DOIs
Publication statusPublished - 2005
Externally publishedYes
EventIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
Duration: Nov 6 2005Nov 10 2005

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2005

Other

OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
CountryUnited States
CityRaleigh, NC
Period11/6/0511/10/05

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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