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 Proceedings (Industrial Electronics Conference)
Pages1768-1773
Number of pages6
Volume2005
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

Other

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

Fingerprint

Collision avoidance
Manipulators
Redundant manipulators
Mobile robots
Trajectories

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Tanaka, H., Minami, M., & Mae, Y. (2005). Evaluation of obstacle avoidance ability for redundant mobile manipulators. In IECON Proceedings (Industrial Electronics Conference) (Vol. 2005, pp. 1768-1773). [1569173] https://doi.org/10.1109/IECON.2005.1569173

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

IECON Proceedings (Industrial Electronics Conference). Vol. 2005 2005. p. 1768-1773 1569173.

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

Tanaka, H, Minami, M & Mae, Y 2005, Evaluation of obstacle avoidance ability for redundant mobile manipulators. in IECON Proceedings (Industrial Electronics Conference). vol. 2005, 1569173, 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
Tanaka H, Minami M, Mae Y. Evaluation of obstacle avoidance ability for redundant mobile manipulators. In IECON Proceedings (Industrial Electronics Conference). Vol. 2005. 2005. p. 1768-1773. 1569173 https://doi.org/10.1109/IECON.2005.1569173
Tanaka, Hiroshi ; Minami, Mamoru ; Mae, Yasushi. / Evaluation of obstacle avoidance ability for redundant mobile manipulators. IECON Proceedings (Industrial Electronics Conference). Vol. 2005 2005. pp. 1768-1773
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