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 Proceedings (Industrial Electronics Conference) |
| Pages | 1768-1773 |
| Number of pages | 6 |
| Volume | 2005 |
| DOIs | |
| 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 |
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 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
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 proceeding › Conference contribution
}
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
SN - 0780392523
SN - 9780780392526
VL - 2005
SP - 1768
EP - 1773
BT - IECON Proceedings (Industrial Electronics Conference)
ER -