본문 바로가기
  • Home

Task Performance of a Mobile Manipulator using Cost Function and Vision Information

  • Journal of The Korea Society of Computer and Information
  • Abbr : JKSCI
  • 2005, 10(6), pp.345-354
  • Publisher : The Korean Society Of Computer And Information
  • Research Area : Engineering > Computer Science

Kang Jin-gu 1 Kwan Hyeong, Lee 2

1강동대학교
2대진대학교

Candidate

ABSTRACT

A mobile manipulator - a serial connection of a mobile robot and a task robot - is a very useful system to achieve various tasks in dangerous environment, because it has the higher performance than a fixed base manipulator in terms of its operational workspace size as well as efficiency. A method for estimating the position of an object in the Cartesian coordinate system based upon the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and the real object, is proposed. With this position estimation, a method of determining an optimal path for the mobile manipulator from the current position to the position of object estimated by the image information using homogeneous matrices. Finally, the corresponding joint parameters to make the desired displacement are calculated to capture the object through the control of a manipulator. The effectiveness of proposed method is demonstrated by the simulation and real experiments using the mobile manipulator.

Citation status

* References for papers published after 2022 are currently being built.