About: Mobile manipulator - redundancy resolution and collision avoidance

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	The mobile manipulator (MM) consists of the manipulator arm mounted on the mobile platform. This system is kinematically redundant, formed by the addition of the degrees of freedom (DOF) of the platform to those of the arm. The task considered in this study is that the gripper of the MM is guided by a human operator in real-time. Redundancy resolution of the MM and collision avoidance of the platform are solved locally (on-line). The obstacle avoidance algorithm is based on the generalized potential Żelds, which depend on robot's velocity as well as its position. Paper presents new technique of computation of generalized potentials using linear programming. The choice of the suitable coordinate frame, in which the MM gripper is controlled, is discussed. The mobile manipulator (MM) consists of the manipulator arm mounted on the mobile platform. This system is kinematically redundant, formed by the addition of the degrees of freedom (DOF) of the platform to those of the arm. The task considered in this study is that the gripper of the MM is guided by a human operator in real-time. Redundancy resolution of the MM and collision avoidance of the platform are solved locally (on-line). The obstacle avoidance algorithm is based on the generalized potential Żelds, which depend on robot's velocity as well as its position. Paper presents new technique of computation of generalized potentials using linear programming. The choice of the suitable coordinate frame, in which the MM gripper is controlled, is discussed. (en)
Title	Mobile manipulator - redundancy resolution and collision avoidance Mobile manipulator - redundancy resolution and collision avoidance (en)
skos:prefLabel	Mobile manipulator - redundancy resolution and collision avoidance Mobile manipulator - redundancy resolution and collision avoidance (en)
skos:notation	RIV/00216305:26220/00:PU22463!RIV11-MSM-26220___
http://linked.open...avai/riv/aktivita	V Z
http://linked.open...avai/riv/aktivity	V, Z(MSM 260000013)
http://linked.open...vai/riv/dodaniDat	2011
http://linked.open...aciTvurceVysledku	Honzík, Bohuslav
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Vysoké učení technické v Brně / Fakulta elektrotechniky a komunikačních technologií
http://linked.open...dnocenehoVysledku	717630
http://linked.open...ai/riv/idVysledku	RIV/00216305:26220/00:PU22463
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	mobile manipulator, redundant manipulator, collision avoidance, linear programming, telepresence (en)
http://linked.open.../riv/klicoveSlovo	collision avoidance redundant manipulator linear programming mobile manipulator telepresence
http://linked.open...ontrolniKodProRIV	[98E271F3ACCA]
http://linked.open...v/mistoKonaniAkce	Maribor
http://linked.open...i/riv/mistoVydani	Maribor, Slovenia
http://linked.open...i/riv/nazevZdroje	Proceedings of the 9th Int. Workshop on Robotics in Alpe-Adria-Danube Region
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	1 (xsd:int)
http://linked.open...UplatneniVysledku	2000
http://linked.open...iv/tvurceVysledku	Honzík, Bohumil
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2000-06-01 (xsd:date)
http://linked.open...n/vavai/riv/zamer	http://linked.opendata.cz/resource/domain/vavai/zamer/MSM%20260000013
number of pages	6 (xsd:int)
http://purl.org/ne...btex#hasPublisher	University of Maribor
http://localhost/t...ganizacniJednotka	26220

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