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

Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi, Shin'ichi Yuta

研究成果: Conference contribution

10 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
ページ7-12
ページ数6
DOI
出版ステータスPublished - 2006
外部発表はい
イベント2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
継続期間: 2006 10 92006 10 15

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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