Open document
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General information |
| Author |
Zhang, Huatao; Jia, Yunyi; Guo, Yan; Qian, Kui; Song, Aiguo; Xi, Ning |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
High degrees of freedom (DOF) mobile
manipulators provide more flexibility than
conventional manipulators. They also provide
manipulation operations with a mobility capacity and
have potential in many applications. However, due to
high redundancy, planning and control become more
complicated and difficult, especially when obstacles
occur. Most existing obstacle avoidance methods are
based on off‐line algorithms and most of them mainly
focus on planning a new collision‐free path, which is
not appropriate for some applications, such as
teleoperation and uses many system resources as well.
Therefore, this paper presents an online planning and
control method for obstacle avoidance in mobile
manipulators using online sensor information and
redundancy resolution. An obstacle contour
reconstruction approach employing a mobile
manipulator equipped with an active laser scanner
system is also introduced in this paper. This method is
implemented using a mobile manipulator with a
seven‐DOF manipulator and a four‐wheel drive mobile
base. The experimental results demonstrate the
effectiveness of this method. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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