Title :
Singularity and manipulability analysis of a planar manipulator mounted on a wheeled mobile platform
Author :
Kim, Sungbok ; Lee, Jaeyoung ; Kim, Hyounggi
Author_Institution :
Sch. of Electron. & Inf. Eng., Hankuk Univ. of Foreign Studies, Kyoungki, South Korea
Abstract :
This paper presents the quantitative and geometric analysis on the kinematics of a wheeled mobile manipulator as the serial connection of a mobile platform and a manipulator. Three different modes of operation are considered, including two standalone operations of a mobile platform or a manipulator and one simultaneous operation of two subsystems. First, the well-defined directional manipulability measure of a robot is formulated. Second, the kinematic model of a mobile manipulator is derived and the configuration dependent singularity is analyzed. Third, the directional manipulability of a mobile manipulator is quantified and the effect of serial cooperation is analyzed. Finally, some discussions and conclusion are made.
Keywords :
manipulator kinematics; mobile robots; dependent singularity; directional manipulability; geometric analysis; manipulability analysis; mobile manipulator; planar manipulator; quantitative analysis; serial cooperation; singularity analysis; standalone operations; wheeled mobile manipulator kinematics; wheeled mobile platform; Ellipsoids; Length measurement; Manipulators; Mobile robots; Orbital robotics; Painting; Particle measurements; Robot kinematics; Spraying; Welding;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249199
