Title: Optimized Mobile Robot Positioning for better Utilization of the Workspace of an attached Manipulator
Abstract: For mobile manipulation robots, the selection of a suitable base position is important to perform a given task. It guarantees that the manipulation points are reachable and that the number of base positions can be minimized. In this work, a geometrical motivated representation of the workspace is introduced. Therefore, the workspace is split into several tori. For this efficient torus-based workspace representation it can be checked if a given target position is within the workspace. In addition, based upon this representation an optimization problem is formulated, that is capable to find optimal base positions for reaching three-dimensional target points. Its applicability to a list of target points of a real-world inspection task scenario is shown. This can be used to reduce the number of repositioning during the task.
Publication Year: 2020
Publication Date: 2020-07-01
Language: en
Type: article
Indexed In: ['crossref']
Access and Citation
Cited By Count: 6
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