Motion planning for a mobile manipulator based on joint motions for error recovery

Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi, Shinichi Yuta

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

9 Citations (Scopus)

Abstract

This paper describes motion planning for a mobile manipulator which works in real environment. Mobile manipulators that can manipulate an object was developed up to now. We assume that object grasping is not restricted to just one grasp way and robot can move freely as far as it is in its operational area of the object. This paper proposes the motion planning for object grasping under the previous explained conditions. There are two major issues to detect the robot pose. The first problem is pose error of the robot hand. The second problem is kinematical redundancy of the mobile manipulator. The pose is evaluated from the amount of joint motions for recovery of hand pose error. Experiments show the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages7-12
Number of pages6
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing
Duration: 2006 Oct 92006 Oct 15

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CityBeijing
Period06/10/906/10/15

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Yamazaki, K., Tomono, M., Tsubouchi, T., & Yuta, S. (2006). Motion planning for a mobile manipulator based on joint motions for error recovery. In IEEE International Conference on Intelligent Robots and Systems (pp. 7-12). [4058533] https://doi.org/10.1109/IROS.2006.281857