Detail publikačního výsledku

Mobile manipulator for telepresence

HONZÍK, B.

Originální název

Mobile manipulator for telepresence

Anglický název

Mobile manipulator for telepresence

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

The paper presents a simulation study of a mobile manipulator (MM), which is used for telepresence applications. The MM 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). In order to guarantee the best possible gripper positioning precision, the platform should be stationary, if the 6-DOF manipulator is able to handle the given task from the current platform position, and move only in the case, when the goal approaches or is outside the manipulator's workspace boundary. Both presented redundancy resolution and collision avoidance algorithms suit this requirement.

Anglický abstrakt

The paper presents a simulation study of a mobile manipulator (MM), which is used for telepresence applications. The MM 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). In order to guarantee the best possible gripper positioning precision, the platform should be stationary, if the 6-DOF manipulator is able to handle the given task from the current platform position, and move only in the case, when the goal approaches or is outside the manipulator's workspace boundary. Both presented redundancy resolution and collision avoidance algorithms suit this requirement.

Klíčová slova v angličtině

mobile manipulator, redundant manipulator, collision avoidance, linear programming

Autoři

HONZÍK, B.

Rok RIV

2011

Vydáno

01.01.2000

Nakladatel

PC-DIR Real, s.r.o.

Místo

Brno

ISBN

80-214-1641-6

Kniha

International Summer School Artificial Intelligence in Control and Measurement

Strany od

29

Strany počet

8

BibTex

@inproceedings{BUT3320,
  author="Bohumil {Honzík}",
  title="Mobile manipulator for telepresence",
  booktitle="International Summer School Artificial Intelligence in Control and Measurement",
  year="2000",
  pages="8",
  publisher="PC-DIR Real, s.r.o.",
  address="Brno",
  isbn="80-214-1641-6"
}