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Workspace Sharing in Mobile Manipulation
Published in Paolo Barattini, Vicentini Federico, Gurvinder Singh Virk, Tamás Haidegger, Human–Robot Interaction, 2019
In the literature,5 there has also been a distinction between simple mobile manipulation and true mobile manipulation.6 In the case of simple mobile manipulation, the system is operated as two separate entities; either the platform moves or the manipulator moves, and the simultaneous movement of both sub-systems is not allowed. In the case of true mobile manipulation, the platform and manipulator are treated as a single kinematic chain, resulting in a system with a high degree of redundancy and higher overall complexity, but with more options in terms of fulfilling specific tasks that need to be completed in one move. This choice has large implications, both for the task to be carried out, but specifically for how to safeguard the mobile manipulator.
Human-robot mobile co-manipulation of flexible objects by fusing wrench and skeleton tracking data
Published in International Journal of Computer Integrated Manufacturing, 2023
David De Schepper, Gert Schouterden, Karel Kellens, Eric Demeester
In order to be able to assist the human operator with this complex transportation task, robots have to be supplied with additional degrees of freedom. Mobile manipulators are well suited for such tasks and are equipped with the required degrees of freedom. A mobile manipulator is a robotic system that combines the advantages of a mobile platform – amongst others maneuverability, mobility and locomotion – and a robotic manipulator, i.e. repeatability, dexterity and ability to manipulate objects. The most common mobile manipulator configuration is a six degrees of freedom industrial robotic arm mounted on a three degrees of freedom mobile platform. Nowadays, these robotic systems can be found in a variety of industries – manufacturing, home-care and healthcare, nuclear industry, construction, space – and applications, including assembly, assistance, or safety tasks (Hvilshøj et al. 2012). Due to the added degrees of freedom, a redundancy in the kinematic chain of mobile manipulator systems can be found when the amount of controllable degrees of freedom exceeds the amount of state parameters to execute a given task (Chiaverini, Oriolo, and Maciejewski 2016). This feature requires extra methods and/or techniques to solve this redundancy issue, e.g. optimisation-based approaches or task space augmented techniques.
Precise and efficient pose estimation of stacked objects for mobile manipulation in industrial robotics challenges
Published in Advanced Robotics, 2019
Gi Hyun Lim, Nuno Lau, Eurico Pedrosa, Filipe Amaral, Artur Pereira, José Luís Azevedo, Bernardo Cunha
To pick up a blank pile which lies among tightly aligned with other piles, a manipulation action requires high precision pose estimation [4]. A mobile manipulator consists of a manipulator which picks up and places objects and a mobile platform which extends the workspace of the manipulator with navigation functionality. The navigation of the mobile platform, however, might not guarantee the necessary degree of precision for the manipulator. Moreover, the computational efficiency is one important factor for mobile platform to last long on a single battery charge.
Motion control of an articulated mobile manipulator in 3D using the Lyapunov-based control scheme
Published in International Journal of Control, 2022
Avinesh Prasad, Bibhya Sharma, Jito Vanualailai, Sandeep Kumar
Robotic mechanical systems such as aerial and ground vehicles, swimming and flying robots, parallel robots, car-like, tractor-trailer and mobile manipulators appear prominently in the literature and are commonly researched in different sectors for their inclusion in various real-world applications such as transportation, companionship, sampling, medical treatment and surgery, save and rescue, pursuit-evasion, surveying and explorations (Assaf et al., 2018; Bunjaku et al., 2017; Chevalier et al., 2014; Kumar et al., 2016, 2021; Matychyn, 2020; Mehta et al., 2017; Raj et al., 2020a; Sharma et al., 2015). Amongst all the existing and new robotic systems, the mobile manipulators have been emerged in the last decade as commercial tools which play an indispensable role to improve human livelihood and endeavours in health sectors and particularly in industries which require automation and repetition yet with high precision and accuracy (Bunjaku et al., 2017; Pajak & Pajak, 2017). The mobile manipulator is a robotic system built from manipulator(s) mounted on a mobile platform, noting that there is a broad spectrum of combinations possible; however, with a common viewpoint of optimising functionalities (mobility and dexterity) and reducing their limitations and restrictions (Hootsmans & Dubowsky, 1991; Pajak & Pajak, 2017). The mobile platform and the manipulator can be subjected to holonomic or nonholonomic constraints which give rise to four possible configurations of a mobile manipulator system (Sharma et al., 2012, 2017): Type : both the platform and manipulator are holonomic.Type : the platform is holonomic while manipulator is nonholonomic.Type : the platform is nonholonomic while manipulator is holonomic.Type : Both the platform and manipulator are nonholonomic.