Trajectory generation for operational task execution with manipulability analysis

Akli, Isma; Haddad, Moussa; Bouzouia, Brahim; Achour, Nouara

doi:10.1109/icar.2011.6088648

Cited by 8 publications

(2 citation statements)

References 15 publications

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“…Past research has focused on resolving redundancy in mobile manipulator systems on 2D flat terrain with maximum manipulability ellipsoid [30][31][32], but required optimization and faced convergence issues, as well as locomotion inaccuracy [27] in a wheeled mobile base. Sandakalum and Ang, Jr. [33] have systematically reviewed planning algorithms for mobile manipulators and found that coordinating the mobile base and manipulator during optimal planning is challenging due to computational load.…”

Section: Literature Reviewmentioning

confidence: 99%

End-effector path tracking of a 14 DOF Rover Manipulator System in CG-Space framework

Katiyar,

Dutta

2023

Robotica

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In order to resolve redundancy and path planning of a high DOF mobile manipulator using conventional approaches like Jacobian and a pseudoinverse method, researchers face the limitation of computational load and delay in response. If such kind of mobile manipulator is traversing the rough terrain, then conventional methods become too costly to implement due to the handling of redundant joints, obstacles, and wheel-terrain interaction. A few optimization-based redundancy resolution approaches try incorporating wheel-terrain interaction but fail in real-time response. This paper describes a 14 DOF Rover Manipulator System’s end-effector path-tracking approach using CG-Space framework to incorporate wheel-terrain interaction. CG-Space means the center of gravity (CG) locus of the Rover. The Rover’s CG is calculated while traversing over 3D terrain using a multivariable optimization method and a 3D point cloud image of the actual terrain and stored as CG-Space over the given terrain. First of all, we decide which part of the system moves to track the path, that is, arm or Rover, depending upon the manipulator’s work volume and manipulability measure restrictions. The next task is to obtain the Rover pose according to the end-effector path using a simple arm’s inverse kinematic solution between the CG-Space and end-effector task space without resolving redundancy. Meanwhile, obstacles and non-traversable regions are avoided in CG-Space. On diverse 3D terrains, simulation and experimental results support the suggested CG-Space framework for end-effector tracking.

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Section: Literature Reviewmentioning

confidence: 99%

End-effector path tracking of a 14 DOF Rover Manipulator System in CG-Space framework

Katiyar,

Dutta

2023

Robotica

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“…Recently, Hamner et al [7], presented an autonomous mobile manipulator that effectively overcomes inherent system uncertainties and exceptions by utilizing control strategies that employ coordinated control. Akli et al [8], proposed Random Profile Approach (RPA) for finding time optimal trajectory for mobile manipulator. Korayem et al [9], proposed an algorithm besides output feedback linearization method for controlling a wheeled mobile robot with two manipulators.…”

Section: Introductionmentioning

confidence: 99%

Motion planning and redundancy resolution of a rover manipulator

Raja

DasGupta

Dutta

2015

2015 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)

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This paper proposes a cooperative motion planning and redundancy resolution technique for a rover manipulator working on rough terrain in a 3-dimensional workspace. The primary motion requirement is accomplished by the manipulator to cover a prescribed trajectory, whereas the rover moves to augment its workspace. The proposed approach involves formulating the trajectory planning as non-linear constrained optimization problem, in which the pose of the platform is computed to achieve the desired trajectory by satisfying joint angle constraints and manipulability measure of the manipulator. The method generates a natural optimized motion for the rover manipulator by solving the constrained optimization problem using the Augmented Lagrangian Method (ALM). Several simulations have been conducted and a number of test cases have been presented to establish the efficacy of the proposed method in providing acceptable path.

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Multi-Agent Fuzzy-Based Control Architecture for Autonomous Mobile Manipulators: Traditional Approaches and Multi-Agent Fuzzy-Based Approaches

Hentout

Messous

Oukid³

et al. 2013

Intelligent Robotics and Applications

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Trajectory generation for operational task execution with manipulability analysis

Cited by 8 publications

References 15 publications

End-effector path tracking of a 14 DOF Rover Manipulator System in CG-Space framework

End-effector path tracking of a 14 DOF Rover Manipulator System in CG-Space framework

Motion planning and redundancy resolution of a rover manipulator

Multi-Agent Fuzzy-Based Control Architecture for Autonomous Mobile Manipulators: Traditional Approaches and Multi-Agent Fuzzy-Based Approaches

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