A study on optimal configuration for the mobile manipulator considering the minimal movement

Author

Jin-Gu Kang ; Jang-Myung Lee

Author_Institution

Dept. of Electron. Eng., Pusan Nat. Univ.

Volume

2

fYear

2000

fDate

2000

Firstpage

546

Abstract

A mobile manipulator-a serial connection of a mobile robot and a task robot-is redundant by itself. Using its redundant freedom, a mobile manipulator can perform various tasks. In this paper, to improve task execution efficiency utilizing the redundancy, optimal configurations of the mobile manipulator are maintained while it is moving to a new task point. Using a cost function for optimality defined as a combination of the square errors of the desired and actual configurations of the mobile robot and of the task robot, the job which the mobile manipulator performs is optimized. Here, the proposed algorithm is experimentally verified and discussed with a mobile manipulator, PURL-II

Keywords

industrial manipulators; manipulator kinematics; mobile robots; redundancy; PURL-II; cost function; kinematics analysis; minimal movement; mobile manipulator; mobile robot; optimal configuration; redundancy; redundant freedom; serial connection; square errors; task execution efficiency; task robot; Computerized monitoring; Cost function; Manipulators; Micromotors; Mobile robots; Motion control; Orbital robotics; Redundancy; Robot kinematics; Servomotors;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2000. ISIE 2000. Proceedings of the 2000 IEEE International Symposium on

Conference_Location

Cholula, Puebla

Print_ISBN

0-7803-6606-9

Type

conf

DOI

10.1109/ISIE.2000.930356

Filename

930356