Mobile Manipulation with a Kinematically Redundant Manipulator for a Pick-and-Place Scenario

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding

Abstract

Mobile robots and robotic manipulators have traditionally been used separately performing different types of tasks. For example, industrial robots have typically been programmed to follow trajectories using position sensors. If combining the two types of robots and adding sensors new possibilities emerge. This enables new applications, but it also raises the question of how to combine the sensors and the added kinematic complexity.
An omni-directional mobile robot together with a new type of kinematically redundant manipulator for future use as a service robot for grocery stores is proposed. The scenario is that of distributing groceries on refilling shelves, and a constraint- based task specification methodology to incorporate sensors and geometric uncertainties into the task is employed. Sensor fusion is used to estimate the pose of the mobile base online. Force sensors are utilized to resolve remaining uncertainties. The approach is verified with experiments.

Details

Authors
Organisations
Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Control Engineering
Original languageEnglish
Title of host publication[Host publication title missing]
PublisherIEEE--Institute of Electrical and Electronics Engineers Inc.
Pages1596-1602
Publication statusPublished - 2012
Publication categoryResearch
Peer-reviewedYes
Event2012 IEEE Multi-Conference on Systems and Control - Dubrovnik, Croatia
Duration: 2012 Oct 3 → …

Publication series

Name
ISSN (Print)1085-1992

Conference

Conference2012 IEEE Multi-Conference on Systems and Control
CountryCroatia
CityDubrovnik
Period2012/10/03 → …

Total downloads

No data available