Manipulability analysis for mobile manipulators

Bayle, B.; Fourquet, Jean-Yves; Renaud, Marc

doi:10.1109/robot.2001.932782

Cited by 71 publications

(49 citation statements)

References 11 publications

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“…The framework presented in this paper can be applied to other mobile systems in a more complete manner than reported in the literature [28,29]. More specifically, the analysis presented extends the concept of force or manipulability ellipsoids [26,34], from the case of a fixed-base robot with end-effector, to a mobile robot without an end-effector.…”

Section: Discussion and Future Applicationsmentioning

confidence: 99%

“…The second term includes terms produced by velocity and will vanish if the system starts from an equilibrium configuration. This (affine) system of equations is usually interpreted as a force ellipsoid [27][28][29], and it maps a quadratic region in the input space f * to an ellipsoid in the output space of constraint forces * , while the velocity-produced terms will shift the origin of such ellipsoid. In this paper, it is assumed the system starts from equilibrium so that the following linear mapping can be defined…”

Section: Defined Asmentioning

confidence: 99%

See 1 more Smart Citation

Studying slippage on pushing applications with snake robots

Reyes¹,

Ma²

2017

2017 IEEE International Conference on Real-Time Computing and Robotics (RCAR)

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In this paper, a framework for analyzing the motion resulting from the interaction between a snake robot and an object is shown. Metrics are derived to study the motion of the object and robot, showing that the addition of passive wheels to the snake robot helps to minimize slippage. However, the passive wheels do not have a significant impact on the force exerted onto the object. This puts snake robots in a similar framework as robotic arms, while considering special properties exclusive to snake robots (e.g., lack of a fixed-base, interaction with the environment through friction). It is also shown that the configuration (shape) of the snake robot, parameterized with the polar coordinates of the robot's COM, plays an important role in the interaction with the object. Two examples, a snake robot with two joints and another with three joints, are studied to show the applicability of the model.

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Section: Discussion and Future Applicationsmentioning

confidence: 99%

Section: Defined Asmentioning

confidence: 99%

Studying slippage on pushing applications with snake robots

Reyes¹,

Ma²

2017

2017 IEEE International Conference on Real-Time Computing and Robotics (RCAR)

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“…The calculation of joint velocities is based on the extension of kinematics inversion of manipulators arm to the case of the mobile manipulators. The non-holonomic constraint of the platform is taken into account by introducing the notion of reduced model of transformation ((Foulon, 1998), (Foulon, 1999), (Bayle, 2001a)). So, this formulation permits to include all kinematic constraints in a same model.…”

Section: Behaviour Fusionmentioning

confidence: 99%

“…A first possibility is to use the vector Z to optimize a function depending on the configuration of the system (gradient method) (Bayle, 2001b), (Bayle, 2001a).…”

Section: J Is the Jacobian Matrix And Z Is An Arbitrary Vectormentioning

confidence: 99%

Strategy of approach for seizure of an assistive mobile manipulator

Nait-Chabane¹,

Delarue²,

Hoppenot³

et al. 2009

Robotics and Autonomous Systems

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In assistive robotics, a manipulator arm constitutes one possible solution for restoring some manipulation functions to victims of upper limb disabilities. The aim of this paper is to present a global strategy of approach of an assistive mobile manipulator (manipulator arm mounted on a mobile base). A manipulability criterion is defined to deal with the redundancy of the system. The aim is to keep the arm manipulable ie capable to move by itself. The strategy is based on human-like behaviour to help the disabled operator to understand the action of the robot. When the robot is far from its objective, only the mobile base moves avoiding obstacles if necessary. When the objective is close to the robot, both mobile base and arm move and redundancy can be used to maximise a manipulability criterion. All the situations are tested separately and a global mission is realised in which all the previous situations are encountered. The partial results obtained with the real robot consolidate the results of simulation. This paper does not propose an autonomous path planning and navigation of the mobile arm but an assistance to the user for remote controlling it.

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“…The configuration differential kinematic model of the mobile platform is given by ( [9], [10]) (6) cos( ) 0…”

Section: Icsit'05 International Conference On Computer Systems and Imentioning

confidence: 99%