Open document
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General information |
| Author |
Aviles, Luis Adrian Zuñiga; Ortega, Jesus Carlos Pedraza; Hurtado, Efren Gorrostieta |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
This paper describes an experimental study of a
novel methodology for the positioning of a multiarticulated
wheeled mobile manipulator with 12 degrees
of freedom used for handling tasks with explosive
devices. The approach is based on an extension of a
homogenous transformation graph (HTG), which is
adapted to be used in the kinematic modelling of
manipulators as well as mobile manipulators. The
positioning of a mobile manipulator is desirable when: (1)
the manipulation task requires the orientation of the
whole system towards the objective; (2) the tracking
trajectories are performed upon approaching the
explosive device’s location on the horizontal and inclined
planes; (3) the application requires the manipulation of
the explosive device; (4) the system requires the extension
of its vertical scope; and (5) the system is required to
climb stairs using its front arms. All of the
aforementioned desirable features are analysed using the
HTG, which establishes the appropriate transformations
and interaction parameters of the coupled system. The
methodology is tested with simulations and real
experiments of the system where the error RMS average
of the positioning task is 7. 91 mm, which is an acceptable
parameter for performance of the mobile manipulator. |
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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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