کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
453990 695085 2015 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Motion analysis of a mobile manipulator executing pick-up tasks
ترجمه فارسی عنوان
تجزیه و تحلیل حرکت یک دستگیره متحرک اجرای وانت وظایف یک ؟؟
کلمات کلیدی
دستکاری موبایل، وظیفه برداشتن، دستکاری بهینه سازی، نسل مسیر
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر شبکه های کامپیوتری و ارتباطات
چکیده انگلیسی


• Reaching Target-point by the end-effector of a mobile manipulator.
• The optimized trajectory, minimizing the execution time of the task is generated.
• Introduction of manipulability index for configuring the manipulator far from singularities.
• The feasibility of the computed trajectories is validated against experimentation on a real robot.

This paper presents an analysis of a mobile manipulator movement executing a pick-up task. The robot has to reach a target point with its end-effector. The configuration of the manipulator and the pose of the mobile robot define the inputs of the problem.The random profile approach is applied to deal with the aforementioned issue. The trajectory which minimizes the execution time of the task is generated. Furthermore, the manipulability index is introduced in the optimization process in order to allow a comfortable configuration of the manipulator to reach the target-point. The obtained results in free and cluttered environments are presented and discussed. The feasibility of the computed trajectories is also validated against experimentation, in the case of the RobuTER mobile robot carrying the Ultra-Light Manipulator.

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ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Computers & Electrical Engineering - Volume 43, April 2015, Pages 257–269
نویسندگان
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