| Autor: |
Martin Sereinig, Peter Manzl, Johannes Gerstmayr |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
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| Zdroj: |
Robotics, Vol 13, Iss 8, p 122 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2218-6581 |
| DOI: |
10.3390/robotics13080122 |
| Popis: |
The present contribution introduces the task-dependent comfort zone as a base placement strategy for mobile manipulators using different manipulability measures. Four different manipulability measures depending on end-effector velocities, forces, stiffness, and accelerations are considered. By evaluating a discrete subspace of the manipulator workspace with these manipulability measures and using image-processing algorithms, a suitable goal position for the autonomous mobile manipulator was defined within the comfort zone. This always ensures a certain manipulator manipulablity value with a lower limit with respect to the maximum possible manipulability in the discrete subspace. Results are shown for three different mobile manipulators using the velocity-dependent manipulability measure in a simulation. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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