본문 바로가기
  • Home

A Study on Posture Control Algorithm of Performing Consecutive Task for Mobile Manipulator

  • Journal of The Korea Society of Computer and Information
  • Abbr : JKSCI
  • 2008, 13(3), pp.153-160
  • Publisher : The Korean Society Of Computer And Information
  • Research Area : Engineering > Computer Science

김종익 1 Rhyu,Kyeong-Taek 1 Kang Jin-gu 1

1강동대학교

Accredited

ABSTRACT

One of the most important features of the Mobile Manipulator is redundant freedom. Using it's redundant freedom, a Mobile Manipulator can move in various modes, and perform dexterous motions. In this paper, to improve robot job performance, two robots -mobile robot, task robot- are joined together to perform a job, we studied the optimal position and posture of a Mobile Manipulator to achieve a minimum of movement of each robot joint. Kinematics of mobile robot and task robot is solved. Using the mobility of a Mobile robot, the weight vector of robots is determined. Using the Gradient method, global motion trajectory is minimized, so the job which the Mobile Manipulator performs is optimized. The proposed algorithm is verified with PURL-Ⅱ which is Mobile Manipulator combined Mobile robot and task robot, and the results are discussed.

Citation status

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