Motion planning for mobile manipulator with keeping manipulability

Nagatani, Keiji; Hirayama, T.; Gofuku, Akio; Tanaka, Yutaka

doi:10.1109/irds.2002.1043994

Cited by 55 publications

(28 citation statements)

References 5 publications

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“…In 2002, Kim et al [34] formulated a combined approach for the mobile manipulator mobility and manipulation using a redundant scheme which used zero moment point. In the same year, Nagatani et al [35] developed a path planning algorithm where the locomotion controller was independent from the manipulator controller, and cooperative motion occurred using communication between controllers. Further, in 2006, Katz, et al [36] considered endeffector-centric, integrated mobility with manipulation, or simply, tool-point control.…”

Section: Unified Motionmentioning

confidence: 99%

Survey of Research for Performance Measurement of Mobile Manipulators

Bostelman¹,

Hong²,

Marvel³

2016

J. RES. NATL. INST. STAN.

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This survey provides the basis for developing research in the area of mobile manipulator performance measurement, an area that has relatively few research articles when compared to other mobile manipulator research areas. The survey provides a literature review of mobile manipulator research with examples of experimental applications. The survey also provides an extensive list of planning and control references as this has been the major research focus for mobile manipulators which factors into performance measurement of the system. The survey then reviews performance metrics considered for mobile robots, robot arms, and mobile manipulators and the systems that measure their performance, including machine tool measurement systems through dynamic motion tracking systems. Lastly, the survey includes a section on research that has occurred for performance measurement of robots, mobile robots, and mobile manipulators beginning with calibration, standards, and mobile manipulator artifacts that are being considered for evaluation of mobile manipulator performance.

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Section: Unified Motionmentioning

confidence: 99%

Survey of Research for Performance Measurement of Mobile Manipulators

Bostelman¹,

Hong²,

Marvel³

2016

J. RES. NATL. INST. STAN.

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“…They have applications in many areas such as grasping and transporting objects, mining, manufacturing, forestry, construction, etc. Recently, target environment for for activity of such robots has been shifting from factory environment to human environment (Nagatani et al, 2002) (offices, hospitals, homes, assistant for disabled and elderly persons, etc.) because they are particularly well suited for human-like tasks (Alfaro et al, 2004).…”

Section: Introductionmentioning

confidence: 99%

“…These studies led to different approaches. One of the general approaches is to consider the locomotion as extra joints of the manipulator (Nagatani et al, 2002). In this case, the mobile manipulator is regarded as a redundant robot where the redundancy is introduced by the motion of the mobile base (Sasaki et al, 2001).…”

Section: Introductionmentioning

confidence: 99%

Mobile Manipulation: A Case Study

Hentout¹,

Bouzouia²,

Akli³

et al. 2010

Robot Manipulators New Achievements

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The experimental robotic system, given by Architecture of the RobuTER/ULM mobile manipulatorRobuTER/ULM is composed of a rectangular differentially-driven mobile base on which is mounted a manipulator. The robot is controlled by an on-board MMX industrial PC and by four MPC555 microcontroller cards communicating via a CAN bus. The on-board PC is running under Linux 6.2 with RTAI layer 1.3. This layer interfaces C/C++ application with that developed under SynDEx (http://www.syndex.org). The first MPC555 card controls the mobile base. The second and the third control the first three and the last three joints of the manipulator. The last MPC555 controls the effort sensor. The mobile base has two driven wheels ensuring its mobility and two free wheels to maintain its stability. The mobile base is equipped with a belt of 24 ultrasonic sensors, a laser measurement system at the front and an odometer sensor on each driven wheel. www.intechopen.com Robot Manipulators, New Achievements 148The manipulator is a six-dof ultra-light manipulator (ULM) with two-finger electrical gripper. All of the joints are rotatable. The manipulator is equipped with incremental position sensor for each articulation and with a six-dof effort sensor integrated on the gripper. The robot is also equipped with a monochrome CCD camera placed on the gripper (eye-inhand camera) with an acquisition card. The resolution of the camera is 352*240 pixels. Images are directly transmitted to the off-board PC via the wireless video transmission system. The camera is maneuverable enough to explore the environment of the robot due to the six dof of the manipulator. Kinematic analysis of RobuTER/ULM Main reference framesThe kinematic analysis of the robot needs to focus on the following main reference frames and transformation matrices (Fig. 2) Kinematic analysis of the ULM manipulatorThe position coordinates and orientation angles of the end-effector are calculated in R M by (1) following the Modified Denavit-Hartenberg (MDH) representation (Khalil & Kleinfinger, 1986) whereM T 2 , 6 T E and k-1 T k are given by (2) (Dombre & Khalil, 2007): Kinematic analysis of the mobile manipulatorIt involves the interaction between the mobile base and the manipulator. The location of the end-effector is given in R A by:A T B and B T M are given by (4) and (5) For RobuTER/ULM, as shown in Fig. 3, Hentout et al., 2009a).www.intechopen.com . Each agent models a principal function of the mobile manipulator and manages a different sub-system. In addition, for each agent corresponds a mechanism connecting the four capacities Supervision, Perception, Decision and Action explained in more details in (Hentout et al., 2008).The Supervision capacity is a virtual entity that select modules which result in the necessary behaviour facing a given situation.The following are the basic functions of the architecture agents (Hentout et al., 2009b):  SA, Supervisory Agent: SA receives the mission to be executed, decides on its feasibility according to the status and the availability (P...

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“…Regarding to literatures on mobile manipulators, mobile manipulators were exploited to install and remove aircraft warning spheres (Campos et al, 2002), to polish aircraft canopy (Jamisola et al, 2002), to organize furniture in a room (Rus et al, 1995), and to collectively transport a single palletized load (Stilwell & Bay, 1993). A great deal of research activities can be found on motion planning of mobile manipulators (Carriker et al, 1991;Chitta & Ostrowski, 2002;Nagatani et al, 2002). Several kinematic and dynamic modelling methods were presented for mobile manipulators in the past decade, such as the Kane's method (Tanner & Kyriakopoulos, 2001), the Newton-Euler method (Chung & Velinsky, 1999) and the Lagrange method (Li & Liu, 2004b;Liu & Li, 2005a;Yu & Chen, 2002).…”

Section: Introductionmentioning

confidence: 99%

“…Several kinematic and dynamic modelling methods were presented for mobile manipulators in the past decade, such as the Kane's method (Tanner & Kyriakopoulos, 2001), the Newton-Euler method (Chung & Velinsky, 1999) and the Lagrange method (Li & Liu, 2004b;Liu & Li, 2005a;Yu & Chen, 2002). Tip-over analysis and prevention attracted numerous scholars and several tip-over stability criteria were defined, such as the potential energy stability level (Ghasempoor & Sepehri, 1995), the force-angle stability measure (Papadopoulos & Rey, 1996), the zero moment point criterion (Furuno et al, 2003), and the criterion based on supporting forces (Li & Liu, 2005b). Extensive literatures can be found on control of mobile manipulators.…”

Section: Introductionmentioning

confidence: 99%