Optimal trajectory planning for a redundant mobile manipulator with non-holonomic constraints performing push-pull tasks

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dc.contributor.authorPuga, Jose P.
dc.contributor.authorChiang, Luciano E.
dc.date.accessioned2024-01-10T12:41:11Z
dc.date.available2024-01-10T12:41:11Z
dc.date.issued2008
dc.description.abstractThis work presents a method to generate optimal trajectories for redundant mobile manipulators based on a weighted function that considers simultaneously joint torques, manipulability and preferred joint angle references. This method is applicable to a group of tasks, commonly known as push-pull tasks, in which a redundant mobile manipulator subject to non-holonomic constraints moves slowly while exerting a set of forces against the environment. In practice, this occurs when the manipulator is pulling against an object such as when opening a door or unearthing a buried object. Torque is computed in a quasi-static manner, mainly taking into consideration the effect of multiple external forces while neglecting dynamic effects. The formulation incorporates a criterion for optimizing a starting configuration, and special considerations are made to account for non-holonomic constraints. The application to an existing mobile manipulator is described.
dc.fechaingreso.objetodigital2024-04-25
dc.format.extent10 páginas
dc.fuente.origenWOS
dc.identifier.doi10.1017/S0263574707004031
dc.identifier.eissn1469-8668
dc.identifier.issn0263-5747
dc.identifier.urihttps://doi.org/10.1017/S0263574707004031
dc.identifier.urihttps://repositorio.uc.cl/handle/11534/77390
dc.identifier.wosidWOS:000256631500012
dc.information.autorucIngeniería;Chiang L;S/I;99983
dc.information.autorucIngeniería;Puga J;S/I;121137
dc.language.isoen
dc.nota.accesocontenido parcial
dc.pagina.final394
dc.pagina.inicio385
dc.publisherCAMBRIDGE UNIV PRESS
dc.revistaROBOTICA
dc.rightsacceso restringido
dc.subjectmobile manipulator
dc.subjectmobile robot motion planning
dc.subjectmobile robots
dc.subjectredundancy
dc.subjecttorque optimization
dc.subjectnon holonomic constraints
dc.subjectTORQUE OPTIMIZATION
dc.subjectMECHANISMS
dc.subjectRESOLUTION
dc.subjectROBOTS
dc.subject.ods11 Sustainable Cities and Communities
dc.subject.odspa11 Ciudades y comunidades sostenibles
dc.titleOptimal trajectory planning for a redundant mobile manipulator with non-holonomic constraints performing push-pull tasks
dc.typeartículo
dc.volumen26
sipa.codpersvinculados99983
sipa.codpersvinculados121137
sipa.indexWOS
sipa.indexScopus
sipa.trazabilidadCarga SIPA;09-01-2024
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