Optimal positioning of combined mobile platform-manipulator systems for material handling tasks

Pin, F.G.; Culioli, J.C.

doi:10.1007/bf00248014

Cited by 39 publications

(15 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Alternatively, Chitta et al [19] showed how to overcome the high-dimensionality of the planning problem by identifying a graph-based representation that was small enough for efficient planning yet contained coordinated arm and base motions to open varying type doors. Pin and Culioli [20] studied a particular aspect of the mobile manipulator kinematic redundancy resolution for material handling tasks. Specifically, they studied the system's utility to optimize its position and configuration during task commutations to handle changes in task requirements or constraints.…”

Section: Experimental Applicationsmentioning

confidence: 99%

Survey of Research for Performance Measurement of Mobile Manipulators

Bostelman¹,

Hong²,

Marvel³

2016

J. RES. NATL. INST. STAN.

View full text Add to dashboard Cite

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.

show abstract

Section: Experimental Applicationsmentioning

confidence: 99%

Survey of Research for Performance Measurement of Mobile Manipulators

Bostelman¹,

Hong²,

Marvel³

2016

J. RES. NATL. INST. STAN.

View full text Add to dashboard Cite

show abstract

“…When using multi-criteria optimization for positioning a mobile manipulator to reach a point, choosing criteria weights, competing criteria and the resulting local minima are a great challenge [88]. Multi-criteria optimization can get stuck in local minima due to unfavorable start positions, and fail to find a solution.…”

Section: Base Movement During Taskmentioning

confidence: 99%

Knowledge Representations for Planning Manipulation Tasks

Zacharias

2012

Cognitive Systems Monographs

View full text Add to dashboard Cite

A complex manipulation task for a robot has to be planned on different levels of abstraction before it can be executed on a real system. At a high-level of abstraction, a task planner generates a sequence of subtasks from a given abstract command, its pre-and postconditions and a current world model. To restrict the already huge search space of the task planner, aspects like geometric information are not contained in the world model at this level. The task planner then assigns the subtasks to planners on a lower level of abstraction like path planners or grasp planners. These planners rely on geometric information to compute their solutions. However, without considering geometric information the task planner cannot determine good parameters for these low-level planners. Therefore, the derived plans may not be valid for a given situation and may require backtracking. Knowledge representations can bridge the gap between these planning levels and thereby enable scene reasoning. The kinematic capabilities of a robot are one aspect the task planner has to be aware of. Therefore this thesis introduces a novel general representation of the kinematic capabilities of a robot arm. The versatile workspace is defined to describe in which orientations the end effector attached to a robot arm can reach a position. The capability map is a calculable representation of the versatile workspace that allows to determine how well regions of the workspace are reachable. It accurately represents the versatile workspace of arbitrary arm kinematics and enables autonomous taskspecific reasoning. Furthermore, its visualization scheme is intuitively comprehensible for the human. The versatile applicability of the capability map is shown by examples from several distinct application domains. In human-robot interaction, the capability map is used to objectively evaluate a bi-manual interface for tele-operation. The results can also supplement the design process for humanoid robot design. In low-level geometric planning, the capability map is used to reduce the search space and to parameterize path planners and grasp planners. Thus, in a manipulation task for a humanoid robot more human-like motion is planned while simultaneously the computation time is reduced. In high-level task reasoning, the capability map is used to evaluate how well a robot is suited for a task. In an example a humanoid robot has to perform a task involving 3D trajectories. Regions are extracted from the capability map that permit the task execution and the suitability of the robot is inferred.

show abstract

“…This is why like a man who has the faculty to move to achieve some tasks at different places or to do continuous tasks requiring a work of the arm during the displacement, the mobile manipulators have been considered. Mobile manipulators received particular attentions these last decades (Zhao et al, 1994); (Pin & Culioli, 1992); (Pin et al, 1996); (Lee & Cho, 1997); (Seraji, 1995). This is mainly due to their analytic problems and their various applications.…”

Section: Introductionmentioning

confidence: 99%