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• W4387656452 abstract "With advantages of large working space and high flexibility, mobile manipulators has been rapidly developed and applied to manufacturing system and assembly shop etc. But how to ensure their motion safety is the key problem in practical applications. To accurately predict the obstacle-avoidance state of the mobile manipulator can provide important information for its motion trajectory/path planning. For the above problem, this work proposes three distance estimation models to characterize the obstacle-avoidance state based on hybrid geometric descriptions (polygon/polyhedron, polygonal/circular slices) for three motion stages, which are the motion of the mobile device, pre-operating pose adjustment motion and operating motion of the manipulator. Three models are respectively the rough estimation model, the general estimation model and the fine estimation model of the shortest distance between robot and surrounding obstacles for each motion stage. The calculation accuracy and efficiency are analyzed during simulation. This work can provide algorithm basis for the safe motion control of mobile manipulators under open three-dimensional (3D) environments." @default.
• W4387656452 created "2023-10-16" @default.
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• W4387656452 date "2023-01-01" @default.
• W4387656452 modified "2023-10-16" @default.
• W4387656452 title "Obstacle-Avoidance State Characterization Models Based on Hybrid Geometric Descriptions for Mobile Manipulators" @default.
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• W4387656452 doi "https://doi.org/10.1007/978-981-99-6495-6_27" @default.
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