About: Man-machine interface of the mobile manipulator

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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 fieelds, 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. Various problems arising from the man-machine interface design are mentioned and solutions of some of them are suggested. 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 fieelds, 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. Various problems arising from the man-machine interface design are mentioned and solutions of some of them are suggested. (en)
Title	Man-machine interface of the mobile manipulator Man-machine interface of the mobile manipulator (en)
skos:prefLabel	Man-machine interface of the mobile manipulator Man-machine interface of the mobile manipulator (en)
skos:notation	RIV/00216305:26220/00:PU22493!RIV/2004/MSM/262204/N
http://linked.open.../vavai/riv/strany	121-125
http://linked.open...avai/riv/aktivita	Z
http://linked.open...avai/riv/aktivity	Z(MSM 262200012)
http://linked.open...vai/riv/dodaniDat	2004
http://linked.open...aciTvurceVysledku	Žalud, Luděk Honzík, Bohuslav Šolc, František
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	716558
http://linked.open...ai/riv/idVysledku	RIV/00216305:26220/00:PU22493
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	[820B71714120]
http://linked.open...v/mistoKonaniAkce	Vienna
http://linked.open...i/riv/mistoVydani	Vienna
http://linked.open...i/riv/nazevZdroje	Proceedings of the International Symposium on Measurement and Control in Robotics
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...ocetUcastnikuAkce	0 (xsd:int)
http://linked.open...nichUcastnikuAkce	0 (xsd:int)
http://linked.open...UplatneniVysledku	2000
http://linked.open...iv/tvurceVysledku	Žalud, Luděk Šolc, František Honzík, Bohumil
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2000-09-25 (xsd:date)
http://linked.open...n/vavai/riv/zamer	http://linked.opendata.cz/resource/domain/vavai/zamer/MSM%20262200012
number of pages	5 (xsd:int)
http://purl.org/ne...btex#hasPublisher	Austrian Society for Measurement and Automation
https://schema.org/isbn	3-901888-13-6
http://localhost/t...ganizacniJednotka	26220

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