Motion planning for a mobile manipulator with imprecise locomotion

被引：0
|
作者：
Shin, DH [1 ]
Hamner, BS [1 ]
Singh, S [1 ]
Hwangbo, M [1 ]
机构：
[1] Seoul Natl Univ, Dept Mech Engn, Seoul 151, South Korea
来源：
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2003年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents a motion planning method for mobile manipulators for which the base locomotion is less precise than the manipulator control. In such a case, it is advisable to move the base to discrete poses from which the manipulator can be deployed to cover a prescribed trajectory. The proposed method finds base poses that not only cover the trajectory but also meet constraints on a measure of manipulability. We propose a variant of the conventional manipulability measure that is suited to the trajectory control of the end effector of the mobile manipulator along an arbitrary curve in three space. Results with implementation on a mobile manipulator are discussed.
引用
收藏
页码：847 / 853
页数：7
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