Avoidance Ability of Redundant Mobile Manipulators During Hand Trajectory Tracking
Mamoru Minami*, Hiroshi Tanaka**, and Yasushi Mae*
*Dept. of Human and Artificial Intelligence System, University of Fukui, 3-9-1 Bunkyo, Fukui 910-0017, Japan
**Graduate School of Engineering, University of Fukui, 3-9-1 Bunkyo, Fukui 910-0017, Japan
We propose a criterion of obstacle avoidance for a mobile manipulator, consisting of a redundant manipulator and a mobile robot. In the configuration control study of redundant manipulators, the avoidance manipulability ellipsoid and the avoidance manipulability shape index have been suggested as an index to symbolize avoidance ability of the manipulator’s shape when the hand tracks a desired trajectory. In following proposed criteria of obstacle avoidance ability, we extend concepts for mobile manipulators to discuss the avoidance ability of intermediate links for mobile operations. We start by analytically formulating, the avoidance manipulability ellipsoid and the avoidance manipulability shape index of a mobile manipulator. We then evaluate the avoidance manipulability shape index representing shape changeability for the entire manipulator’s configuration using a mobile manipulator with a three-link arm as an example.
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