Optimal placement of a two-link manipulator for door opening

Takateru Urakubo; Tomoaki Mashimo; Takeo Kanade

doi:10.1109/IROS.2009.5354076

Optimal placement of a two-link manipulator for door opening

Takateru Urakubo, Tomoaki Mashimo, Takeo Kanade

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

13 Citations (Scopus)

Abstract

This paper presents a study on the optimal base location and arm motion of a mobile manipulator for door opening task. Numerical simulation results show that the base location where the manipulability of the two-link arm is almost degenerated at the start and end points of door opening is optimal. We show by analysis that the location has an advantage in supplying kinetic energy to the door by using torques at the joints of arm. In order to represent properly the arm motion near a singular point of manipulability, the rotational motion of the door is parameterized by piecewise fifth order polynomials of time, and the parameters of polynomials are optimized to minimize the joint torques.

Original language	English
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	1446-1451
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2009.5354076
Publication status	Published - Dec 11 2009
Externally published	Yes
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States Duration: Oct 11 2009 → Oct 15 2009

Publication series

Name	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/Territory	United States
City	St. Louis, MO
Period	10/11/09 → 10/15/09

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction
Control and Systems Engineering

Access to Document

10.1109/IROS.2009.5354076

Cite this

Optimal placement of a two-link manipulator for door opening. / Urakubo, Takateru; Mashimo, Tomoaki; Kanade, Takeo.

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 1446-1451 5354076 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

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

Urakubo, T, Mashimo, T & Kanade, T 2009, Optimal placement of a two-link manipulator for door opening. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354076, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 1446-1451, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 10/11/09. https://doi.org/10.1109/IROS.2009.5354076

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AB - This paper presents a study on the optimal base location and arm motion of a mobile manipulator for door opening task. Numerical simulation results show that the base location where the manipulability of the two-link arm is almost degenerated at the start and end points of door opening is optimal. We show by analysis that the location has an advantage in supplying kinetic energy to the door by using torques at the joints of arm. In order to represent properly the arm motion near a singular point of manipulability, the rotational motion of the door is parameterized by piecewise fifth order polynomials of time, and the parameters of polynomials are optimized to minimize the joint torques.

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Optimal placement of a two-link manipulator for door opening

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