Browse > Article

A Study on the Configuration Control of a Mobile Manipulator Based on the Optimal Cost Function  

Kang Jin-Gu (Keukdong College)
Lee Kwan-Houng (Cheongju University)
Publication Information
Journal of information and communication convergence engineering / v.3, no.1, 2005 , pp. 33-37 More about this Journal
Abstract
One of the most important feature of the Mobile Manipulator is redundant freedom. Using the redundant freedom, Mobile Manipulator can move various mode, perform dexterous motion. In this paper, to improve robot job ability, as two robots perform a job in co-operation control, we studied optimal position and posture of Mobile Manipulator with minimum movement of each robot joint. Kinematics of mobile robot and task robot is solved. Using mobility of Mobile robot, weight vector of robots is determined. Using Gradient methode, global motion trajectory is minimized. so the job which Mobile Manipulator perform is optimized. The proposed algorithm is verified with PURL-II which is Mobile Manipulator combined Mobile robot and task robot. and discussed the result.
Keywords
Mobile Manipulator; Gradient method PURL-II; Co-operation;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Stephen L, Chiu, 'Task compatibility of Manipulator Postures,,' The International Journal of Robotics Research, vol.7, No.5 ,1988, pp. 13-21   DOI   ScienceOn
2 Francois G. Pin, 'Using Minimax Approaches to Plan Optimal Task Commutation Configuration for Combined Mobile Platform-Manipulator System,' IEEE Trans. Robotics and Automation, vol.10, No.1, 1994, pp. 44-53   DOI   ScienceOn
3 Benjamin C.KUO, Automatic Control System, PrinticeHall, I986
4 Tsuneo Yoshikawa, 'Manipulability of Robotic Mechanisms,' The International Journal of Robotics Research, vol. 4, No.2, 1985, pp. 3-9
5 F.L.Lewis, Control of Robot Manipulators, Macmillan Publishing, 1993
6 Intel Lab mcs-96 8x9x Architectural Overview Intel, 1990
7 Mark W. Spong, Robot Dynamics and Control, John Wiley & Sons, 1989