Publication detail

Man-machine interface of the mobile manipulator

HONZÍK, B., ŽALUD, L., ŠOLC, F.

Original Title

Man-machine interface of the mobile manipulator

English Title

Man-machine interface of the mobile manipulator

Type

conference paper

Language

en

Original Abstract

The mobile manipulator (MM) consists of the manipulator arm mounted on the mobile platform. This system is kinematically redundant, formed by the addition of the degrees of freedom (DOF) of the platform to those of the arm. The task considered in this study is that the gripper of the MM is guided by a human operator in real-time. Redundancy resolution of the MM and collision avoidance of the platform are solved locally (on-line). The obstacle avoidance algorithm is based on the generalized potential fields, which depend on robot's velocity as well as its position. Paper presents new technique of computation of generalized potentials using linear programming. The choice of the suitable coordinate frame, in which the MM gripper is controlled, is discussed. Various problems arising from the man-machine interface design are mentioned and solutions of some of them are suggested.

English abstract

The mobile manipulator (MM) consists of the manipulator arm mounted on the mobile platform. This system is kinematically redundant, formed by the addition of the degrees of freedom (DOF) of the platform to those of the arm. The task considered in this study is that the gripper of the MM is guided by a human operator in real-time. Redundancy resolution of the MM and collision avoidance of the platform are solved locally (on-line). The obstacle avoidance algorithm is based on the generalized potential fields, which depend on robot's velocity as well as its position. Paper presents new technique of computation of generalized potentials using linear programming. The choice of the suitable coordinate frame, in which the MM gripper is controlled, is discussed. Various problems arising from the man-machine interface design are mentioned and solutions of some of them are suggested.

Keywords

manipulator, robot

RIV year

2003

Released

01.01.2000

Publisher

Austrian Society for Measurement and Automation

Location

Vienna

ISBN

3-901888-13-6

Book

Proceedings of the International Symposium on Measurement and Control in Robotics

Pages from

121

Pages to

126

Pages count

5

BibTex


@inproceedings{BUT6930,
  author="Bohumil {Honzík} and Luděk {Žalud} and František {Šolc}",
  title="Man-machine interface of the mobile manipulator",
  annote="The mobile manipulator (MM) consists of the manipulator arm mounted on the mobile platform. This system is kinematically redundant, formed by the addition of the degrees of freedom (DOF) of the platform to those of the arm. The task considered in this study is that the gripper of the MM is guided by a human operator in real-time. Redundancy resolution of the MM and collision avoidance of the platform are solved locally (on-line). The obstacle avoidance algorithm is based on the generalized potential fields, which depend on robot's velocity as well as its position. Paper presents new technique of computation of generalized potentials using linear programming. The choice of the suitable coordinate frame, in which the MM gripper is controlled, is discussed. Various problems arising from the man-machine interface design are mentioned and solutions of some of them are suggested.",
  address="Austrian Society for Measurement and Automation",
  booktitle="Proceedings of the International Symposium on Measurement and Control in Robotics",
  chapter="6930",
  howpublished="print",
  institution="Austrian Society for Measurement and Automation",
  year="2000",
  month="january",
  pages="121--126",
  publisher="Austrian Society for Measurement and Automation",
  type="conference paper"
}