Detail publikace

Mobile manipulator collision avoidance: a simulation study.

HONZÍK, B., ZEZULKA, F.

Originální název

Mobile manipulator collision avoidance: a simulation study.

Anglický název

Mobile manipulator collision avoidance: a simulation study.

Jazyk

en

Originální abstrakt

The paper presents a simulation study of a mobile manipulator (MM), which consists of a 6 DOF manipulator arm mounted on a 3 DOF mobile platform. The resulting system is therefore kinematically redundant. The manipulator gripper is controlled in real-time by a human operator. The MM should be capable of handling objects in its working area while simultaneously avoiding possible collisions of the platform and obstacles (static and/or moving). Collision avoidance algorithm is designed for the omnidirectional (free flying) moving platform and for the platform with non-holonomic constraints.

Anglický abstrakt

The paper presents a simulation study of a mobile manipulator (MM), which consists of a 6 DOF manipulator arm mounted on a 3 DOF mobile platform. The resulting system is therefore kinematically redundant. The manipulator gripper is controlled in real-time by a human operator. The MM should be capable of handling objects in its working area while simultaneously avoiding possible collisions of the platform and obstacles (static and/or moving). Collision avoidance algorithm is designed for the omnidirectional (free flying) moving platform and for the platform with non-holonomic constraints.

Dokumenty

BibTex 


@inproceedings{BUT6918,
  author="Bohumil {Honzík} and František {Zezulka}",
  title="Mobile manipulator collision avoidance: a simulation study.",
  annote="The paper presents a simulation study of a mobile manipulator (MM), which consists of a 6 DOF manipulator arm mounted on a 3 DOF mobile platform. The resulting system is therefore kinematically redundant. The manipulator gripper is controlled in real-time by a human operator. The MM should be capable of handling objects in its working area while simultaneously avoiding possible collisions of the platform and obstacles (static and/or moving). Collision avoidance algorithm is designed for the omnidirectional (free flying) moving platform and for the platform with non-holonomic constraints.",
  address="SSAKI",
  booktitle="Proceedings of the International Carpathian Control Conference",
  chapter="6918",
  institution="SSAKI",
  year="2000",
  month="january",
  pages="567",
  publisher="SSAKI",
  type="conference paper"
}