A Study on Optimal Configuration for the Mobile Manipulator Considering the Minimal Movement

Kang, Jiannan; Lee, Kwan-Houng; Kim, Jane-Jin

doi:10.1007/978-3-540-37258-5_145

Cited by 3 publications

(1 citation statement)

References 11 publications

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“…However, it was difficult to execute the desired task (draw a segment on a wall) due to the initial positioning error of the mobile base, causing straying from the planned path. The mobility degrees introduced by the mobile system are separated from the motion of the manipulator in the article with the reference [10]. Optimal configurations of the mobile manipulator are maintained, while it is moving to a new task point.…”

Section: Introductionmentioning

confidence: 99%

Control modes validation for generalized point to point task executions application: Robuter/UML mobile manipulator

Akli

Abdelfetah

Bouzouia

2012

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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This paper presents implementation of time optimal generated trajectories, on a mobile manipulator. The executed task involves a generalized point to point trajectory generation, connecting initial and final imposed configurations.The trajectories are off-line generated considering kinematic constraints. Trajectory tracking is not guaranteed due to the controllers implemented on the real robot. Inherent changes on the environment surrounding the robot can also occurred. We propose in this paper to insert modules to the existing controller blocks of both manipulator and mobile platform allowing switching between velocity control mode (existing control mode) and position control mode. That allows reaching the final configuration with minimum error, or obstacle avoidance for the sudden environment changing.

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Section: Introductionmentioning

confidence: 99%

Control modes validation for generalized point to point task executions application: Robuter/UML mobile manipulator

Akli

Abdelfetah

Bouzouia

2012

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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Trajectory generation for operational task execution with manipulability analysis

Akli

Haddad

Bouzouia

et al. 2011

2011 15th International Conference on Advanced Robotics (ICAR)

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FPGA-Based Parallel DNA Algorithm for Optimal Configurations of an Omnidirectional Mobile Service Robot Performing Fire Extinguishment

Tsai

Huang

Lin

2011

IEEE Trans. Ind. Electron.

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This paper presents a coarse-grain parallel deoxyribonucleic acid (PDNA) algorithm for optimal configurations of an omnidirectional mobile robot with a five-link robotic arm. This efficient coarse-grain PDNA is proposed to search for the global optimum of the redundant inverse kinematics problem with minimal movement, thereby showing better population diversity and avoiding premature convergence. Moreover, the pipelined hardware implementation, hardware/software co-design, and System-on-a-Programmable-Chip (SoPC) technology on a fieldprogrammable gate array (FPGA) chip are employed to realize the proposed PDNA in order to significantly shorten its processing time. Simulations and experimental results are conducted to illustrate the merit and superiority of the proposed FPGA-based PDNA algorithm in comparison with conventional genetic algorithms (GAs) for omnidirectional mobile robot performing fire extinguishment

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A Study on Optimal Configuration for the Mobile Manipulator Considering the Minimal Movement

Cited by 3 publications

References 11 publications

Control modes validation for generalized point to point task executions application: Robuter/UML mobile manipulator

Control modes validation for generalized point to point task executions application: Robuter/UML mobile manipulator

Trajectory generation for operational task execution with manipulability analysis

FPGA-Based Parallel DNA Algorithm for Optimal Configurations of an Omnidirectional Mobile Service Robot Performing Fire Extinguishment

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