Mobilní manipulátor - řešení redundance a bezkolizního pohybu

Mobile manipulator - redundancy resolution and collision avoidance

conference paper

en

The mobile manipulator (MM) consists of the manipulator arm mounted on the mobile platform. This system is kinematically redundant, formed by the addition of the degrees of freedom (DOF) of the platform to those of the arm. The task considered in this study is that the gripper of the MM is guided by a human operator in real-time. Redundancy resolution of the MM and collision avoidance of the platform are solved locally (on-line). The obstacle avoidance algorithm is based on the generalized potential Żelds, which depend on robot's velocity as well as its position. Paper presents new technique of computation of generalized potentials using linear programming. The choice of the suitable coordinate frame, in which the MM gripper is controlled, is discussed.

Mobilní manipulátor (MM) sestává z ramene umístěného na mobilní platformě. jedná se o redundantní systém. Počet jeho stupňů volnosti je dán součtem stupňů volnosti ramene a platformy. Chapadlo manipulátoru je v prostoru naváděno člověkem – operátorem v reálném čase. MM je vybaven systémem řešení redundance a bezkolizního pohybu, který rovněž pracuje v reálném čase. Řešení bezkolizního pohybu je založeno na metodě zobecněných potenciálových polí, které záleží na pozici a rychlosti robota. Článek popisuje způsob řešení těchto polí pomocí lineárního programování. Rovněž je diskutována volba vhodného systému souřadnic ve kterých je MM řízen.

The mobile manipulator (MM) consists of the manipulator arm mounted on the mobile platform. This system is kinematically redundant, formed by the addition of the degrees of freedom (DOF) of the platform to those of the arm. The task considered in this study is that the gripper of the MM is guided by a human operator in real-time. Redundancy resolution of the MM and collision avoidance of the platform are solved locally (on-line). The obstacle avoidance algorithm is based on the generalized potential Żelds, which depend on robot's velocity as well as its position. Paper presents new technique of computation of generalized potentials using linear programming. The choice of the suitable coordinate frame, in which the MM gripper is controlled, is discussed.

mobile manipulator, redundant manipulator, collision avoidance, linear programming, telepresence

2004

01.01.2000

University of Maribor

Maribor, Slovenia

Proceedings of the 9th Int. Workshop on Robotics in Alpe-Adria-Danube Region

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