Evaluation of obstacle avoidance ability for redundant mobile manipulators

Hiroshi Tanaka; Mamoru Minami; Yasushi Mae

doi:10.1109/IECON.2005.1569173

Evaluation of obstacle avoidance ability for redundant mobile manipulators

Hiroshi Tanaka, Mamoru Minami, Yasushi Mae

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	IECON 2005
Subtitle of host publication	31st Annual Conference of IEEE Industrial Electronics Society
Pages	1768-1773
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2005.1569173
Publication status	Published - 2005
Externally published	Yes
Event	IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States Duration: Nov 6 2005 → Nov 10 2005

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
Volume	2005

Other

Other	IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
Country	United States
City	Raleigh, NC
Period	11/6/05 → 11/10/05

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2005.1569173

Fingerprint Dive into the research topics of 'Evaluation of obstacle avoidance ability for redundant mobile manipulators'. Together they form a unique fingerprint.

Cite this

Evaluation of obstacle avoidance ability for redundant mobile manipulators. / Tanaka, Hiroshi; Minami, Mamoru; Mae, Yasushi.

IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society. 2005. p. 1768-1773 1569173 (IECON Proceedings (Industrial Electronics Conference); Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tanaka, H, Minami, M & Mae, Y 2005, Evaluation of obstacle avoidance ability for redundant mobile manipulators. in IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society., 1569173, IECON Proceedings (Industrial Electronics Conference), vol. 2005, pp. 1768-1773, IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society, Raleigh, NC, United States, 11/6/05. https://doi.org/10.1109/IECON.2005.1569173

@inproceedings{eeed4686f2274466bef3caeacc570a4c,

title = "Evaluation of obstacle avoidance ability for redundant mobile manipulators",

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.",

author = "Hiroshi Tanaka and Mamoru Minami and Yasushi Mae",

year = "2005",

doi = "10.1109/IECON.2005.1569173",

language = "English",

isbn = "0780392523",

series = "IECON Proceedings (Industrial Electronics Conference)",

pages = "1768--1773",

booktitle = "IECON 2005",

note = "IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society ; Conference date: 06-11-2005 Through 10-11-2005",

}

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.

UR - http://www.scopus.com/inward/record.url?scp=33749663247&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33749663247&partnerID=8YFLogxK

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 -