Enhancing kinematic accuracy of redundant wheeled mobile manipulators via adaptive motion planning

Mechatronics ◽  
2021 ◽  
Vol 79 ◽  
pp. 102639
Author(s):  
Hongjun Xing ◽  
Ali Torabi ◽  
Liang Ding ◽  
Haibo Gao ◽  
Weihua Li ◽  
...  
Keyword(s):  
Motion Planning ◽  
Mobile Manipulators ◽  
Kinematic Accuracy ◽  
Adaptive Motion ◽  
Wheeled Mobile Manipulators

scholarly journals An Adaptive Motion Planning Technique for On-Road Autonomous Driving

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 2655-2664
Author(s):  
Xianjian Jin ◽  
Zeyuan Yan ◽  
Guodong Yin ◽  
Shaohua Li ◽  
Chongfeng Wei
Keyword(s):  
Motion Planning ◽  
Autonomous Driving ◽  
Adaptive Motion ◽  
Planning Technique

Adaptive motion selection for online hand–eye calibration

Robotica ◽  
2007 ◽  
Vol 25 (5) ◽  
pp. 529-536
Author(s):  
Jing Zhang ◽  
Fanhuai Shi ◽  
Yuncai Liu
Keyword(s):  
Motion Planning ◽  
Dynamic Threshold ◽  
Selection Algorithm ◽  
Robot System ◽  
End Effector ◽  
Threshold Determination ◽  
Robot Gripper ◽  
Adaptive Motion ◽  
Selection For ◽  
Relative Pose

SUMMARYWhile a robot moves, online hand–eye calibration to determine the relative pose between the robot gripper/end-effector and the sensors mounted on it is very important in a vision-guided robot system. During online hand–eye calibration, it is impossible to perform motion planning to avoid degenerate motions and small rotations, which may lead to unreliable calibration results. This paper proposes an adaptive motion selection algorithm for online hand–eye calibration, featured by dynamic threshold determination for motion selection and getting reliable hand–eye calibration results. Simulation and real experiments demonstrate the effectiveness of our method.

scholarly journals Kinematic and dynamic model-based control of wheeled mobile manipulators: a unified framework for reactive approaches

Robotica ◽  
2007 ◽  
Vol 25 (2) ◽  
pp. 157-173 ◽  
Author(s):  
V. Padois ◽  
J.-Y. Fourquet ◽  
P. Chiron
Keyword(s):  
Dynamic Models ◽  
Mobile Manipulation ◽  
Mobile Manipulators ◽  
Reactive Control ◽  
Unified Framework ◽  
Modelling Framework ◽  
On Line ◽  
Real Robot ◽  
Wheeled Mobile Manipulators ◽  
Line Switching

SUMMARYThe work presented in this paper aims at providing a unified modelling framework for the reactive control of wheeled mobile manipulators (WMM). Where most work in the literature often provides models, sometimes simplified, of a given type of WMM, an extensive description of obtaining explicit kinematic and dynamic models of those systems is given. This modelling framework is particularly well suited for reactive control approaches, which, in the case of mobile manipulation missions, are often necessary to handle the complexity of the tasks to be fulfilled, the dynamic aspect of the extended workspace and the uncertainties on the knowledge of the environment. A flexible reactive framework is thus also provided, allowing the sequencing of operational tasks (in our case, tasks described in the end-effector frame) whose natures are different but also an on-line switching mechanism between constraints that are to be satisfied using the system redundancy. This framework has been successfully implemented in simulation and on a real robot. Some of the obtained results are presented.

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