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A Study on Optimal Configuration for Mobile Manipulator Using Divide-and-Conquer Control  

Kang Jin-Gu (극동정보대학 방송영상미디어과)
Lee Kwan-Houng (청주대학교 전자정보공학부)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.9, no.6, 2005 , pp. 1395-1401 More about this Journal
Abstract
Mobile manipulator is a robot that has mobility and manipulability with the combination of the task robot and mobile robot. 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. It can have the wider workspace and better performance in avoidance of singularity and obstacle than the fixed base structured robot. Cooperation control using the Mobile Manipulator improves the performance of the robot with redundant freedom in workspace. In this paper, configuration control of the Mobile Manipulator has been studied using Task Segment and TOMM(Task-Oriented Manipulability Measure). For verifying the proposed algorithm, we implemented a mobile manipulator, PURL-II, which is composed of a mobile robot with 3DOF and a task robot with SDOF.
Keywords
Mobile Manipulator; Task Segment; TOMM;
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