Avoidance Ability of Redundant Mobile Manipulators During Hand Trajectory Tracking | Zendy

Mamoru Minami | Zendy; Hiroshi Tanaka | Zendy; Yasushi Mae | Zendy

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Avoidance Ability of Redundant Mobile Manipulators During Hand Trajectory Tracking

Author(s) -

Mamoru Minami,

Hiroshi Tanaka,

Yasushi Mae

Publication year - 2007

Publication title -

journal of advanced computational intelligence and intelligent informatics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.172

H-Index - 20

eISSN - 1343-0130

pISSN - 1883-8014

DOI - 10.20965/jaciii.2007.p0135

Subject(s) - obstacle avoidance , trajectory , computer science , control theory (sociology) , ellipsoid , mobile robot , manipulator (device) , mobile manipulator , collision avoidance , tracking (education) , artificial intelligence , control (management) , robot , psychology , pedagogy , physics , astronomy , computer security , collision

We propose a criterion of obstacle avoidance for a mobile manipulator, consisting of a redundant manipulator and a mobile robot. In the configuration control study of redundant manipulators, the avoidance manipulability ellipsoid and the avoidance manipulability shape index have been suggested as an index to symbolize avoidance ability of the manipulator’s shape when the hand tracks a desired trajectory. In following proposed criteria of obstacle avoidance ability, we extend concepts for mobile manipulators to discuss the avoidance ability of intermediate links for mobile operations. We start by analytically formulating, the avoidance manipulability ellipsoid and the avoidance manipulability shape index of a mobile manipulator. We then evaluate the avoidance manipulability shape index representing shape changeability for the entire manipulator’s configuration using a mobile manipulator with a three-link arm as an example.

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