Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 김민수 | - |
dc.contributor.author | 성영휘 | - |
dc.date.accessioned | 2024-01-29T16:40:11Z | - |
dc.date.available | 2024-01-29T16:40:11Z | - |
dc.date.created | 2023-09-12 | - |
dc.date.issued | 2023-08 | - |
dc.identifier.issn | 1975-8359 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11750/47684 | - |
dc.description.abstract | The ultimate purpose of a mobile robot is to do some tasks in addition to moving to a desired point, so it is very natural for a mobile robot to be equipped with a manipulator. Among many types of mobile robots, omni-directional mobile robot has been very popular because it has advantages in trajectory planning and control. In this paper, we deal with an omni-directional mobile manipulator that consists of a four Mecanum wheeled mobile robot platform and a manipulator mounted on it. In general, it is very difficult to solve inverse kinematics for a mobile manipulator because it has infinite solutions. Omni-directional mobile robot platform can move in any direction and can rotate on a pivot in a plane, so we propose it to be modeled as a manipulator with two prismatic joints and one revolute joint. Then the overall omni-directional mobile manipulator can be considered as a manipulator with an (n+3) DOF manipulator if the mounted manipulator has n DOF. We propose a weighted pseudo-inverse based method to solve the inverse kinematics problem at velocity level for the omni-directional mobile manipulator. In our method, in addition to a primary task of following end-effector trajectory, a secondary task of obstacle avoidance is accomplished by maximizing a performance index that represents a distance between a link of the manipulator and an obstacle. Simulation results showed the feasibility of the proposed method. ⓒ The Korean Institute of Electrical Engineers | - |
dc.language | Korean | - |
dc.publisher | Korean Institute of Electrical Engineers | - |
dc.title | 충돌 회피를 위한 전방향 모바일 매니퓰레이터의 최적 궤적 계획 | - |
dc.title.alternative | Optimal Trajectory Planning of an Omni-directional Mobile Manipulator for Obstacle Avoidance | - |
dc.type | Article | - |
dc.identifier.doi | 10.5370/KIEE.2023.72.8.952 | - |
dc.identifier.scopusid | 2-s2.0-85184141890 | - |
dc.identifier.bibliographicCitation | Transactions of the Korean Institute of Electrical Engineers, v.72, no.8, pp.952 - 958 | - |
dc.identifier.kciid | ART002984750 | - |
dc.description.isOpenAccess | TRUE | - |
dc.subject.keywordAuthor | Omni-directional mobile robot | - |
dc.subject.keywordAuthor | Mobile manipulator | - |
dc.subject.keywordAuthor | Redundant system | - |
dc.subject.keywordAuthor | Obstacle avoidance | - |
dc.citation.endPage | 958 | - |
dc.citation.number | 8 | - |
dc.citation.startPage | 952 | - |
dc.citation.title | Transactions of the Korean Institute of Electrical Engineers | - |
dc.citation.volume | 72 | - |