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Integrated Task Planning based on Mobility of Mobile Manipulator (M2) Platform

Jin, Tae-Seok    (Dept. of Mechatronics Engineering, DongSeo University   ); Kim, Hyun-Sik    (Dept. of Robot System Engineering, TongMyong University   ); Kim, Jong-Wook    (Dept. of Electronics Engineering, Dong-A University  );
  • 초록

    This paper presents an optimized integrated task planning and control approach for manipulating a nonholonomic robot by mobile manipulators. Then, we derive a kinematics model and a mobility of the mobile manipulator(M2) platform considering it as the combined system of the manipulator and the mobile robot. to improve task execution efficiency utilizing the redundancy, optimal trajectory of the mobile manipulator(M2) platform are maintained while it is moving to a new task point. A cost function for optimality can be defined as a combination of the square errors of the desired and actual configurations of the mobile robot and of the task robot. In the combination of the two square errors, a newly defined mobility of a mobile robot is utilized as a weighting index. With the aid of the gradient method, the cost function is minimized, so the path trajectory that the M2 platform generates is optimized. The simulation results of the 2 ink planar nonholonomic M2 platform are given to show the effectiveness of the proposed algorithm.


  • 주제어

    Task Planning .   mobile robot .   Manipulator .   Nonholonomic .   Kinematics.  

  • 참고문헌 (15)

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  • 이 논문을 인용한 문헌 (1)

    1. Park, Su-san ; Im, Dea-Yeong ; Cha, Hyun-Rok ; Ryoo, Young-Jae 2016. "Mechanism of Omni-directional Personal Mobility Vehicle with Diagonal Driving" 한국지능시스템학회 논문지 = Journal of Korean institute of intelligent systems, 26(2): 153~159     

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