Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

Cui, Lei

doi:10.11648/j.jeee.20150305.20

Cited by 3 publications

(4 citation statements)

References 104 publications

(106 reference statements)

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“…The results of this work will be applied to development of a manipulator on a free-floating submarine vehicle for inspection and cleaning of the target. Cui and others [10] reviewed the different challenges in terms of navigation of a mobile base and manipulation in conjunction with a robotic arm from four important aspects: positioning of the mobile robot by means of (GNSS), navigation based on vision and visual servo, robotic manipulation, planning and control of trajectories.…”

Section: Introductionmentioning

confidence: 99%

“…In those works, the kinematics of non-redundant and redundant robots is solved after training the ANN for a period, yielding a unique solution corresponding to the desired position in the workspace. Recently, the work of hybrid approaches based on Neural Networks has allowed the training of ANN with variable optimization criteria over time, which was not possible on earlier works [10]. As example, Jin, L. and Li, S [21], use a Dynamic Neural Network to solve a problem of optimization of the manipulability of a redundant robot, transforming it into the resolution of a set time variants non-linear equations.…”

Section: Introductionmentioning

confidence: 99%

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Inverse kinematic multiobjective optimization for a vehicle-arm robot system using evolutionary algorithms

Rodríguez

Banfield

2018

Robotics Transforming the Future

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This work is aimed at discussing the solution of the inverse kinematic problem using Multi-Objective Evolutionary Algorithms (MOEA) for a vehicle-arm redundant robot. A simplified 5 DoF model was used to simulate the problem and the objective functions were properly selected assuming underwater operation. In addition, we present a review of the most important techniques used for solving the inverse kinematic problem, focusing at the end on the application of a Non-Dominated, Sorting, Elitist MOEA with nonlinear constraints.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Inverse kinematic multiobjective optimization for a vehicle-arm robot system using evolutionary algorithms

Rodríguez

Banfield

2018

Robotics Transforming the Future

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“…This to some extent compromises the initial motivation. 40 The moving frame method in differential geometry is a powerful geometric tool for exploring the geometric properties and invariants of submanifolds. 41,42 The Frenet-Serret frame provides a complete kinematic description of curves and leads to a complete classification of smooth curves in Euclidean space.…”

Section: Introductionmentioning

confidence: 99%

In-hand forward and inverse kinematics with rolling contact

2017

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SUMMARYRobotic hands use rolling contact to manipulate a grasped object to a desired location, even when the finger and the palm linkage mechanisms lack degrees of freedom. This paper presents a systematic approach to the forward and inverse kinematics of in-hand manipulation. The moving frame method in differential geometry is integrated into the product of exponential formula to establish a pure geometric framework of the kinematics of a robot hand. The forward and inverse kinematics of a multifingered hand are obtained in terms of the joint rates and contact trajectories. A two-fingered planar robot hand and a three-fingered spatial robot hand are used to demonstrate the proposed approach. The proposed formulation amounts to solving a univariate polynomial, providing an alternative to the existing ones that require numerical integration.

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“…It only transplants the structure of the industrial robot arm to the service robot by experience. Service robots and industrial robots have different application fields [4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Design and Optimization of Arm Structure for Mobile Medical Service Robot Based on Multi - Target Particle Swarm Optimization

2017

IJOMAM

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-In order to apply the robot to medical institution, a mobile medical service robot arm is designed. Firstly, according to the design requirements and the ergonomic theory, the various configurations of the mechanical arm are analysed. The optimal configuration of the mechanical arm is obtained by using the global relative manipulability value as the index. Secondly, according to the application and function of mobile service robot, the maximum working space distance index, static stiffness performance index and global velocity fluctuation performance index of arm performance are proposed. On this basis, the mathematical function model of robot arm size optimization is established. Finally, according to the characteristics of the multi-objective and multi-constraint of the optimization function model, the multi-objective particle swarm optimization algorithm based on the Pareto dominance principle is chosen as the solving method. The results show that the size optimization is very effective in reducing the speed fluctuation of the mechanical arm during motion. Therefore, through the combination of topology optimization and size optimization, the mechanical arm has the characteristics of high stiffness, light weight, flexible and stable.

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Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

Cited by 3 publications

References 104 publications

Inverse kinematic multiobjective optimization for a vehicle-arm robot system using evolutionary algorithms

Inverse kinematic multiobjective optimization for a vehicle-arm robot system using evolutionary algorithms

In-hand forward and inverse kinematics with rolling contact

Design and Optimization of Arm Structure for Mobile Medical Service Robot Based on Multi - Target Particle Swarm Optimization

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