The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Pose Selection of a Mobile Manipulator for a Pick and Place Task

집기-놓기 작업을 위한 이동 머니퓰레이터의 자세 선정

  • 조경래 (동서울대학교 항공자동차기계공학부)
  • Received : 2011.10.26
  • Accepted : 2011.11.14
  • Published : 2011.11.30
Download PDF
⟨ Previous Next ⟩

Abstract

A mobile manipulator is a system with a robotic manipulator mounted on top of a mobile base. It has both indoor and outdoor applications for transporting or transferring materials. When a user gives commands, they are usually at high levels such as "move the object to the table," or "tidy the room." By intelligently decomposing these complex commands into several subtasks, the mobile manipulator can perform the tasks with a greater efficiency. One of the crucial subtasks for these commands is the pick-and-place task. For the mobile manipulator, selection of a good base position and orientation is essential to accomplishing this task. This paper presents an algorithm that determines one of the position and orientation of a mobile manipulator in order to complete the pick-and-place task without human intervention. Its effectiveness are shown for a mobile manipulator with 9 degrees-of-freedom in simulation.

Keywords

References

  1. D Berenson, J Kuffner, H Choset, "An optimization approach to planning for mobile manipulation", Proc. IEEE Int. Conf. on Robotics and Automation, pp.1187‐1192, 2008.
  2. J. Tan, N, Xi, "Integrated Task Planning and Control for mibile Manipulators", Proc. IEEE Int. Conf. on Robotics and Automation. pp.382‐387, 2002.
  3. O. Brock, O. Khativ, S. Viji, "Task‐Consistent Obstacle Avoidance and Motion Behavior for Mobile Manipulation", Proc. IEEE Int. Conf. on Robotics and Automation. pp.388‐393, 2002.
  4. Y. Yamamoto, X. Yun, "Unified Analysis on Mobility and Manipulability of Mobile Manipulators", Proc. IEEE Int. Conf. on Robotics and Automation, pp.1200‐1206, 1999.
  5. L. Petersson, P. Jensfelt, D. Tell, M. Strandberg, D. Karagic, H. I. Christensen, "System Integration for Real‐World Manipulation Tasks", Proc. IEEE Int. Conf. on Robotics and Automation, pp.2500‐2505, 2002.
  6. T. Takahama, K. Nagatani, Y. Tanaka, "Motion Planning for Dual‐arm Mobile Manipulator ‐ Realization of "Tidying a Room Motion", Proc. IEEE Int. Conf. on Robotics and Automation, pp.4338‐4343, 2004.
  7. R. David, P. Gavin, W. Stephen, K. Nathan, "Manipulator‐Based Grasping Pose Selection by means of Task‐Objective Optimization", ACRA, Vol. 2, pp 457‐462, 2010.
  8. 조경래, "집기‐놓기 작업을 위한 머니퓰레이터를 장착한 이동로봇의 위치선정", 동서울대학 논문집, 2004.
  9. T. Lozano‐Perez, J. L. Jones, E. Mazer, P. A. O'Donnell, "HANDEY : A Robot Task Planner", The MIT Press, Cambridge, Massachusetts, London, England
  10. K. Cho, M. Kim, J‐B, Song, "Complete and Rapid Re‐grasp Planning with Look‐up Table", Journal of Intelligent and Robotic Systems, Vol. 36, pp.371‐387, 2003. https://doi.org/10.1023/A:1023690101296
  11. D. E. Whitney, "The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators", ASME Transactions on Dynamic Systems, Measurement and Control, Vol. 4, No 94, pp. 303‐309, 1972.
  12. T. Lozano Perez and M. A. Wesley, "An algorithm for planning collision‐free paths among polygonal obstacles," Commun. ACM 22, 10 (Oct.), 560‐570. https://doi.org/10.1145/359156.359164
  13. H. Noboria, T. Nantwa and S. Arimoto, "A feasible motion planning algorithm for a mobile robot on a quadtree representation, Proc. IEEE Int. Conf. on Robotics and Automation, pp.327‐ 332, 1989.
  14. Y. K. Hwang and N. Ahuja, "Gross motion planning - a survey," ACM Computing Surveys, 24, 3 (Sep.), 1992.
  15. P. C. Chen and Y. K. Hwang, "SANDROS: a Dynamic Graph Search Algorithm for Motion Planning," IEEE Transactions on Robotics and Automation, Vol. 14, No. 3, pp. 390‐403, Feb 1998. https://doi.org/10.1109/70.678449
  16. G. Marnani. J. Kim, J. Yuh, and W.K. Chun, "A real‐time approach for singularity avoidance in resolved motion rate control of robotic manipulators," Proc. IEEE Int. Conf. on Robotics and Automation. pp.1973‐1978, 2002