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

Jin, Tae-Seok (IIS, The University of Tokyo)
Lee, Jang-Myung (Department of Electronics Engineering, Pusan National University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.42, no.5, 2005 , pp. 1-12 More about this Journal
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.
Keywords
Mobile manipulator; kinematics; position estimation; active camera; mobile planning;
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