Paper Info
Title
A study on optimal configuration for the mobile manipulator: using weight value and mobility
Abstract
A Mobile Manipulator is redundant by itself. Using it’s redundant freedom, a mobile manipulator can perform various task. In this paper, to improve task execution efficiency utilizing the redundancy, optimal configurations of the mobile manipulator are maintained while it is moving to a new task point. And using a cost function for optimality defined as a combination of the square errors of the desired and actual configurations of the mobile robot and of the task robot, the job which the mobile manipulator performs is optimized. Here, The proposed algorithm is experimentally verified and discussed with a mobile manipulator, PURL-II.
Year
DOI
Venue
2006
10.1007/11840817_94
ICANN (1)
Keywords
Field
DocType
redundant freedom,task robot,mobile manipulator,mobile robot,task execution efficiency,new task point,weight value,cost function,actual configuration,various task,optimal configuration,mobility,gradient method
Gradient method,Parallel manipulator,Simulation,Computer science,Redundancy (engineering),Artificial intelligence,Artificial neural network,Robot,Mobile robot,Robotics,Mobile manipulator
Conference
Volume
ISSN
ISBN
4131
0302-9743
3-540-38625-4
Citations 
PageRank 
References 
0
0.34
5
Authors
2
Name
Order
Citations
PageRank
Jin-gu Kang101.35
Kwan H. Lee214829.48