A global approach for motion generation of non-holonomic mobile manipulators
A mobile robotic manipulator, i.e. a manipulator mounted on a vehicle, is a very useful system for tasks in dangerous environments. Unfortunately the use of a wheeled vehicle introduces non-holonomic constraints, and the combination of a vehicle and a manipulator generally introduces kinematic redun...
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| creator | Perrier, C. Dauchez, P. Pierrot, F. |
| description | A mobile robotic manipulator, i.e. a manipulator mounted on a vehicle, is a very useful system for tasks in dangerous environments. Unfortunately the use of a wheeled vehicle introduces non-holonomic constraints, and the combination of a vehicle and a manipulator generally introduces kinematic redundancy. The goal of this paper is to propose a method to determine a feasible path between two fixed configurations for a mobile manipulator whose vehicle is non-holonomic. For this purpose, we write the global displacement of the system in a symbolic way, using two representation tools: homogeneous matrices and dual quaternions. Then, we compute the corresponding joint parameters to make the desired displacement coincide with the computed symbolic displacement. The method is described and some simulation results are presented. |
| doi_str_mv | 10.1109/ROBOT.1998.680881 |
| format | Conference Proceeding |
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The method is described and some simulation results are presented.</description><subject>Computational modeling</subject><subject>Defense industry</subject><subject>Forestry</subject><subject>IEEE members</subject><subject>Kinematics</subject><subject>Manipulators</subject><subject>Military computing</subject><subject>Mobile robots</subject><subject>Quaternions</subject><subject>Vehicles</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>078034300X</isbn><isbn>9780780343009</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1998</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotkMtqwzAUREUf0CTtB7Qr_YDdK8nSlZZp6AsMhpJCdkGW5UTFtozsLvr3DU1XM4vDwBlC7hnkjIF5_Kieqm3OjNG50qA1uyALLhEz0Li7JEtADaIQALsrsmAgISuQmxuynKYvABBCqQUp1_TQxdp21I5jitYdaRsT7eMc4kAPfvDJ_tXY0iEO2TF2cYh9cCekDp2nvR3C-N3ZOabplly3tpv83X-uyOfL83bzlpXV6_tmXWaBIZ8z1aI1AqSRhWpUK7D2KE9GqpAN1th4xr0BhuBcwWtZOORMcu1V45RzrREr8nDeDd77_ZhCb9PP_nyC-AWhnk9V</recordid><startdate>1998</startdate><enddate>1998</enddate><creator>Perrier, C.</creator><creator>Dauchez, P.</creator><creator>Pierrot, F.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>1998</creationdate><title>A global approach for motion generation of non-holonomic mobile manipulators</title><author>Perrier, C. ; Dauchez, P. ; Pierrot, F.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i172t-6f7a93059546d6f37be75109645d7b7de12e90170cc42b54c721528e6dc6ccf93</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1998</creationdate><topic>Computational modeling</topic><topic>Defense industry</topic><topic>Forestry</topic><topic>IEEE members</topic><topic>Kinematics</topic><topic>Manipulators</topic><topic>Military computing</topic><topic>Mobile robots</topic><topic>Quaternions</topic><topic>Vehicles</topic><toplevel>online_resources</toplevel><creatorcontrib>Perrier, C.</creatorcontrib><creatorcontrib>Dauchez, P.</creatorcontrib><creatorcontrib>Pierrot, F.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Perrier, C.</au><au>Dauchez, P.</au><au>Pierrot, F.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>A global approach for motion generation of non-holonomic mobile manipulators</atitle><btitle>Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)</btitle><stitle>ROBOT</stitle><date>1998</date><risdate>1998</risdate><volume>4</volume><spage>2971</spage><epage>2976 vol.4</epage><pages>2971-2976 vol.4</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>078034300X</isbn><isbn>9780780343009</isbn><abstract>A mobile robotic manipulator, i.e. a manipulator mounted on a vehicle, is a very useful system for tasks in dangerous environments. Unfortunately the use of a wheeled vehicle introduces non-holonomic constraints, and the combination of a vehicle and a manipulator generally introduces kinematic redundancy. The goal of this paper is to propose a method to determine a feasible path between two fixed configurations for a mobile manipulator whose vehicle is non-holonomic. For this purpose, we write the global displacement of the system in a symbolic way, using two representation tools: homogeneous matrices and dual quaternions. 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| ispartof | Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998, Vol.4, p.2971-2976 vol.4 |
| issn | 1050-4729 2577-087X |
| language | eng |
| recordid | cdi_ieee_primary_680881 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Computational modeling Defense industry Forestry IEEE members Kinematics Manipulators Military computing Mobile robots Quaternions Vehicles |
| title | A global approach for motion generation of non-holonomic mobile manipulators |
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