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Positioning Mobile Manipulators to Perform Constrained Linear Trajectories (2009)
| Venue: | In Proc. of the IEEE/RSJ International Conf. on Intelligent Robots and Systems, 2008. Preprint submitted to 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. Received February 28 |
| Citations: | 7 - 1 self |
BibTeX
@INPROCEEDINGS{Zacharias09positioningmobile,
author = {Franziska Zacharias and Christoph Borst and Michael Beetz and Gerd Hirzinger},
title = {Positioning Mobile Manipulators to Perform Constrained Linear Trajectories},
booktitle = {In Proc. of the IEEE/RSJ International Conf. on Intelligent Robots and Systems, 2008. Preprint submitted to 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. Received February 28},
year = {2009}
}
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Abstract
Abstract — For mobile manipulators envisioned in home en-vironments a kitchen scenario provides a challenging testbed for numerous skills. Diverse manipulation actions are required, e.g. simple pick and place for moving objects and constrained motions for opening doors and drawers. The robot kinematics and link limits however are restrictive. Therefore especially a constrained trajectory will not be executable from arbitrary placements of the mobile manipulator. A two stage approach is presented to position a mobile manipulator to execute constrained linear trajectories as needed for opening drawers. In a first stage, a representation of a robot arm’s reachable workspace is computed. Pattern recog-nition techniques are used to find regions in the workspace representation where these trajectories are possible. A set of trajectories results. In the second stage mobile manipulator placements are computed and the corresponding trajectories are checked for collisions. Compared to a brute force search through the workspace, the success rate of finding a mobile manipulator placement can be increased from 2 % to 70%. I.
Keyphrases
mobile manipulator constrained linear trajectory home en-vironments arbitrary placement workspace representation brute force search diverse manipulation action numerous skill stage approach robot kinematics trajectory result pattern recog-nition technique simple pick corresponding trajectory constrained trajectory kitchen scenario second stage mobile manipulator placement mobile manipulator placement success rate first stage robot arm reachable workspace challenging testbed
