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Efficient kinematic planning for mobile manipulators with non-holonomic constraints using optimal control

Markus Giftthaler, Farbod Farshidian, Timothy Sandy, Lukas Stadelmann, Jonas Buchli
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints.  ...  In a first application example, we solve kinematic trajectory planning problems for a 26 DoF wheeled robot.  ...  ACKNOWLEDGEMENTS The authors would like to thank the Hilti AG for providing a Total Station for measuring absolute robot positions, and M. Neunert for his advice regarding the RCARS system.  ... 
doi:10.1109/icra.2017.7989388 dblp:conf/icra/GiftthalerFSSB17 fatcat:trwsirsqbzd6zemlnr6l2thtxq

Motion Planning and Trajectory for Wheeled Mobile Robot

2016 International Journal of Science and Research (IJSR)  
This paper introduces path, trajectory and task planning methods for wheeled mobile robots.  ...  Path Planning for Mobile Robots robot.  ... 
doi:10.21275/v5i1.nov152938 fatcat:p74sxyguzfg6bpal3xkglwtrbq

Motion Planning for Mobile Manipulators—A Systematic Review

Thushara Sandakalum, Marcelo H. Ang
2022 Machines  
While planning separately for the mobile base and the manipulator provides convenience, the results are sub-optimal.  ...  Coordinating between the mobile base and manipulator while utilizing their unique capabilities provides better solution paths.  ...  -Differential constraints: Kinematic constraints due to the robot structure (for example, non-holonomic constraint of a differently driven robot), velocity/acceleration/jerk constraints arising from system  ... 
doi:10.3390/machines10020097 fatcat:z4oozgp6xzeird2h2xnwoyz764

Point-to-Point Collision-Free Trajectory Planning for Mobile Manipulators

Grzegorz Pajak, Iwona Pajak
2016 Journal of Intelligent and Robotic Systems  
The collision-free trajectory planning method subject to control constraints for mobile manipulators is presented.  ...  A computer example involving a mobile manipulator consisting of nonholonomic platform (2,0) class and 3DOF RPR type holonomic manipulator operating in a three-dimensional task space is also presented.  ...  In [17] Tan et al. have proposed integrated task planning and a control approach for manipulating a nonholonomic cart by a mobile robot consisting of a holonomic platform and on-board manipulator.  ... 
doi:10.1007/s10846-016-0390-8 fatcat:eongoi3ra5hk5beqaryqstmbr4

On-line parameter identification of a cart by mobile manipulation pushing

Yu Sun, Ning Xi, Jindong Tan
2004 Robotics and Autonomous Systems  
In this paper, a model identification method for unknown parameters of a non-holonomic cart has been developed.  ...  By interactions between a mobile manipulator and the cart, the sensory information is collected to estimate the model parameters of the cart.  ...  Acknowledgements Research partially supported under NSF Grants IIS-9796300, IIS-9796287 and EIA-9911077, and under DARPA Contract DABT63-99-1-0014.  ... 
doi:10.1016/j.robot.2003.10.002 fatcat:m6ikbp7lerb3nazlojtzupb3dm

Design and Analysis of 5 DOF Wheeled Mobile Robot

Dhiraj D. Patil, Dr. S P. Shekhawat
2016 International Journal of Engineering Trends and Technoloy  
This dissertation work is aimed for research over the 5 DoF wheeled mobile robot application.  ...  A kinematics models which including direct kinematics, inverse kinematics, and differential kinematics for a wheeled mobile robot is established.  ...  Related Work Much research work has been published about the problem of wheeled mobile robot motion planning under nonholonomic constraints using only a kinematic model of a mobile robot , because they  ... 
doi:10.14445/22315381/ijett-v32p265 fatcat:jfgt6yhhlzdlnampf7pnrsas54

Robust Adaptive Position and Force Tracking Control Strategy for Door-Opening Behaviour

C.-C. Chen, J.-S. Li, J. Luo
2016 International Journal of Simulation Modelling  
To successfully suppress the excessive internal forces and assure the proper posture of the mobile manipulator under holonomic and non-holonomic constraints, a robust adaptive position/force control algorithm  ...  The door-opening task is a key step for the indoor rescue and monitoring of a mobile manipulator.  ...  the Outstanding Academic Leaders' Plan of Shanghai (15XD1501800).  ... 
doi:10.2507/ijsimm15(3)3.342 fatcat:u7rrp2qulnhf3ierupl4dxosvy

MOPL: A multi-modal path planner for generic manipulation tasks

Soren Jentzsch, Andre Gaschler, Oussama Khatib, Alois Knoll
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
For intelligent robots to solve real-world tasks, they need to manipulate multiple objects, and perform diverse manipulation actions apart from rigid transfers, such as pushing and sliding.  ...  Planning these tasks requires discrete changes between actions, and continuous, collision-free paths that fulfill action-specific constraints.  ...  ACKNOWLEDGEMENTS The authors would like to thank Torsten Kröger for his help with the Kuka experiments. This research was supported by the European Union's Seventh Framework Programme  ... 
doi:10.1109/iros.2015.7354263 dblp:conf/iros/JentzschGKK15 fatcat:jfco3sq62bg3hohke6yck4a4fq

Motion planning for mobile manipulators with a non-holonomic constraint using the FSP (full space parameterization) method

François G. Pin, Kristi A. Morgansen, Faithlyn A. Tulloch, Charles J. Hacker, Kathryn B. Gower
1996 Journal of Robotic Systems  
CONCLUSION An approach to the motion planning of highly kinematically redundant mobile manipulators under time-varying constraints and task criterion has been presented.  ...  APPLICATION TO MOBILE MANIPULATOR For application to redundancy resolution for mobile manipulators under time-varying constraints, task requirements, and active configurations, unique advantages of the  ...  The views and opinions of authors expressed herein do not necessarily state or reflect those of the United States Government or any agency thereof.  ... 
doi:10.1002/(sici)1097-4563(199611)13:11<723::aid-rob4>;2-x fatcat:5c7jy44opjdwpgynqqqyzblavm

Survey of Research for Performance Measurement of Mobile Manipulators

Roger Bostelman, Tsai Hong, Jeremy Marvel
2016 Journal of Research of the National Institute of Standards and Technology  
Metrics for safety and performance of mobile manipulators include many areas, such as: safe operation, task completion, time to complete the task, quality, and quantity of tasks completed.  ...  Lastly, the survey includes a section on research that has occurred for performance measurement of robots, mobile robots, and mobile manipulators beginning with calibration, standards, and mobile manipulator  ...  Their enormous efforts combine into the evolution of complex, yet highly useful mobile manipulator systems where performance measurements will soon provide the repeatable methods to aid system design and  ... 
doi:10.6028/jres.121.015 fatcat:xh2nmy6b55hrnazuv2qw5w7uby

Reconfiguration of redundant robots under kinematic inversion

Alessandro De Luca, Giuseppe Oriolo
1995 Advanced Robotics  
An analogy is established with non-holonomic systems, allowing the use of existing techniques to design cartesian inputs that bring the robot to the desired configuration.  ...  Two different control approaches are presented for a robot with a single degree of redundancy, based on the holonomy angle concept and on sinusoidal steering of chained-form systems.  ...  robotic systems, such as wheeled mobile robots and free-flying manipulators.  ... 
doi:10.1163/156855395x00382 fatcat:mujk2saddjhonh4wejgymk63cm

Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

Lei Cui
2015 Journal Electrical and Electronic Engineering  
using global navigation satellite system (GNSS), vision-based navigation and visual servoing, robotic manipulation, mobile robot path planning and control.  ...  This paper reviewed the various challenges in sample collection in terms of navigation of the mobile platform and manipulation of the robotic arm from four aspects, namely mobile robot positioning/attitude  ...  Mobile Robot Path Planning and Control Path Following of Holonomic and Noholonomic Mobile Platforms As discussed in Section 1, the autonomous mobile manipulator consists of a manipulator mounted on a  ... 
doi:10.11648/j.jeee.20150305.20 fatcat:ssn7fk2dqnajxaczt77xg4dfre

Dynamics and Cooperative Object Manipulation Control of Suspended Mobile Manipulators

Mahdy Eslamy, S. Ali A. Moosavian
2010 Journal of Intelligent and Robotic Systems  
Dynamics and control of mobile manipulators is obviously a more challenging problem compared to fixed-base robots.  ...  Then, Natural Orthogonal Complement Method is used to include the non-holonomic constraint of the wheeled platform in a more concise dynamics model.  ...  Yamashita et al. discussed the motion planning of multiple mobile robots during cooperative manipulation and transportation tasks in which they proposed a method for manipulation of large objects in a  ... 
doi:10.1007/s10846-010-9413-z fatcat:pp547c3rcnh7zbsqzuotyfulw4

Closed loop motion planning of cooperating mobile robots using graph connectivity

Guilherme Augusto Silva Pereira, Vijay Kumar, Mario Fernando Montenegro Campos
2008 Robotics and Autonomous Systems  
We present experimental results with groups of holonomic and non-holonomic mobile robots.  ...  In this paper we address the problem of planning the motion of a team of cooperating mobile robots subject to constraints on relative configuration imposed by the nature of the task they are executing.  ...  Acknowledgments This work was partially supported by FAPEMIG and CNPq of Brazil, and DARPA of USA.  ... 
doi:10.1016/j.robot.2007.08.003 fatcat:k44xjyu6y5cd7easqxmdwkht2i

Motion Planning for a Humanoid Mobile Manipulator System [article]

Yan Wei, Wei Jiang, Ahmed Rahmani, Qiang Zhan
2018 arXiv   pre-print
A high redundant non-holonomic humanoid mobile dual-arm manipulator system is presented in this paper where the motion planning to realize "human-like" autonomous navigation and manipulation tasks is studied  ...  In detail, an efficient direct-connect bidirectional RRT and gradient descent algorithm is proposed to reduce the sampled nodes largely, and a geometric optimization method is proposed for path pruning  ...  Besides, they mainly focus on motion planning for mobile or free-flying robots and do not consider the non-holonomic constraints. 31, 32 Even thought there exist studies on non-holonomic mobile vehicles  ... 
arXiv:1806.07349v1 fatcat:rr73lp3ymnbs5ksyemxqq4zld4
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