Journal of the Institute of Electronics Engineers of Korea SC (전자공학회논문지SC)

The Institute of Electronics and Information Engineers (대한전자공학회)
권호 표지

Object Position Estimation and Optimal Moving Planning of Mobile Manipulator based on Active Camera

능동카메라기반 이동매니퓰레이터의 물체위치추정 및 최적동작계획

  • Published : 2005.09.25
Download PDF
⟨ Previous Next ⟩

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 regard to the size of it's operational workspace. Unfortunately the use of a mobile robot introduces non-holonomic constraints, and the combination of a mobile robot and a manipulator generally introduces kinematic redundancy. In this paper, first a method for estimating the position of object at the cartesian coordinate system acquired by using the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and real object is proposed. Second, we propose a method to determine a optimal path between current the position of mobile manipulator whose mobile robot is non-holonomic and the position of object estimated by image information through the global displacement of the system in a symbolic way, using homogenous matrices. Then, we compute the corresponding joint parameters to make the desired displacement coincide with the computed symbolic displacement and object is captured through the control of a manipulator. The effectiveness of proposed method is demonstrated by the simulation and real experiment using the mobile manipulator.

이동로봇과 작업로봇의 직결연결 형태인 이동매니퓰레이터는 원자로 내부와 같은 위험한 작업환경에서 다양한 일한 처리하기위해 유용한 시스템이라 할 수 있다. 하부의 이동로봇은 non-holonomic 시스템이고 상부의 작업로봇의 결합으로 인하여 기구학적 잉여자유도를 갖고 있다. 그러나 주행 중 작업공간 확보로 인하여 고정식 매니퓰레이터보다 더 효율적인 작업이 가능 하다고 할 수 있다. 본 논문에서는 영상정보에 의한 물체인식 및 최적주행을 수행하기 위하여 이동로봇에 장착된 능동카메라에 인식된 영상과 실제 물체간의 기하학적 관계를 이용하여 직교좌표상의 물체의 위치를 추정할 수 있도록 하였다. 두 번째로 시스템의 위치변위 및 영상정보를 이용하여 물체위치를 추정하고 동차행렬을 이용하여 이동매니퓰레이터의 현 위치와 물체간의 최적경로를 결정하는 방법을 제시하였다. 제시한 방법을 시뮬레이션과 이동매니퓰레이터를 이용한 실험데이터분석을 통하여 유효성을 제시하였다.

Keywords

References

  1. W. F. Carriker, P. K. Khosla and B. H. Krogh, 'Path planning for mobile manipulators for multiple task execution,' IEEE Trans. on Robotics and Automation, vol. 7 no. 3, pp. 403-408, 1991 https://doi.org/10.1109/70.88151
  2. Homayoun Seraji, 'A Unified Approach to Motion Control of Mobile Manipulator,' The International Journal of Robotics Research, Vol. 17, No.2, pp. 107-118, 1998 https://doi.org/10.1177/027836499801700201
  3. Jae H. Chung, 'Interaction Control of a Redundant Mobile Manipulator,' The International Journal of Robotics Research, Vol. 17, No. 12, pp. 1302 - 1309, 1998 https://doi.org/10.1177/027836499801701203
  4. Jang Myung Lee, 'Dynamic Modeling and Cooperative Control of a Redundant Manipulator Based on Decomposition,' International Journal of KSME, Vol. 12, No.4, pp. 642-658, 1998 https://doi.org/10.1007/BF02945724
  5. Jin-Gu Kang, Min-Gyu Kim, Ki-Hong Jin, Jang-Myung Lee, 'A Study on Optimal Configuration Control of the Mobile Manipulator,' International Conf. on Mechatronics Technology (ICMT'99), pp. 572-577, 1999
  6. Jea-Kyung Lee, 'Mobile Manipulator Motion Planning for Multiple Tasks Using Global Optimization Approach,' Journal of Intelligent and Robotic System, Vol. 18, pp, 169 - 190, 1997 https://doi.org/10.1023/A:1007939823675
  7. H. Seraji, 'Reachability Analysis for Base Placement in Mobile Manipulator,' Journal of Robotic Systems, pp. 687-698, 1997 https://doi.org/10.1002/rob.4620120104
  8. K Shibata, T. Murakami, K Ohnishi, 'Control of a Mobile Manipulator Based on Equivalent Mass Matrix,' Proc. of IEEE IECON 21st International Conf. on Industrial Electronics, Control, and Instrumentation, pp. 1330-1335. 1995 https://doi.org/10.1109/IECON.1995.483990
  9. F. G. Pin, J. C. Culioli, 'Optimal Positioning of Combined Mobile Platform-Manipulator System for Material Handling Task,' Journal of Intelligent and Robotic System, pp. 165-182, 1992 https://doi.org/10.1007/BF00248014
  10. Jin-Woo Park, Jae-Han Park, Jang-Myung Lee, 'Intelligent Control of a Mobile Robot using Fuzzy Logic,' Proc. of ITC-CSCC'99, pp. 585-588, Japan, 1999
  11. H. Freemann, editor. Machine Vision for Three-Dimensional Scenes. Academic Press, San Diego, 1990
  12. Y. Bar-Shalom and X. Li. Multitarget-Multisensor Tracking: Principles and Techniques. Storrs, Conneticutt, 1995
  13. R. C. P. Paul, 'Modeling, Trajectory Calculation, and Servoing of a Computer Controlled Arm,' Ph D. Thesis, Stanford Artificial Intelligence Lab., Stanford, 1972
  14. C. Perrier, P. Dauchez, F. Pierrot, 'A Global Approach for Motion Generation of Non-Holonomic Mobile Manipulators,' Proc. of the IEEE International Conference on Robotics and Automation, pp. 2971-2976, 1998 https://doi.org/10.1109/ROBOT.1998.680881
  15. E. A. Croft, B., Benhabib and R. G. Fenton, 'Near-time optimal robot motion planning for online application,' Journal of Robotic Systems, vol. 12, no. 8, pp. 553-567, 1995 https://doi.org/10.1002/rob.4620120805