TY - GEN
T1 - Motion planning for a mobile manipulator based on joint motions for error recovery
AU - Yamazaki, Kimitoshi
AU - Tomono, Masahiro
AU - Tsubouchi, Takashi
AU - Yuta, Shin'ichi
PY - 2006
Y1 - 2006
N2 - This paper describes motion planning for a mobile manipulator which works in real environment. Mobile manipulators that can manipulate an object was developed up to now. We assume that object grasping is not restricted to just one grasp way and robot can move freely as far as it is in its operational area of the object. This paper proposes the motion planning for object grasping under the previous explained conditions. There are two major issues to detect the robot pose. The first problem is pose error of the robot hand. The second problem is kinematical redundancy of the mobile manipulator. The pose is evaluated from the amount of joint motions for recovery of hand pose error. Experiments show the effectiveness of the proposed method.
AB - This paper describes motion planning for a mobile manipulator which works in real environment. Mobile manipulators that can manipulate an object was developed up to now. We assume that object grasping is not restricted to just one grasp way and robot can move freely as far as it is in its operational area of the object. This paper proposes the motion planning for object grasping under the previous explained conditions. There are two major issues to detect the robot pose. The first problem is pose error of the robot hand. The second problem is kinematical redundancy of the mobile manipulator. The pose is evaluated from the amount of joint motions for recovery of hand pose error. Experiments show the effectiveness of the proposed method.
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U2 - 10.1109/IROS.2006.281857
DO - 10.1109/IROS.2006.281857
M3 - Conference contribution
AN - SCOPUS:34250661417
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 7
EP - 12
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -