TY - GEN
T1 - Joint limit avoidance of a mobile manipulator for prevention of rapid velocity increase
AU - Kim, Kyejin
AU - Na, Minwoo
AU - Song, Jae Bok
N1 - Funding Information:
*This work was supported by IITP grant funded by the Korea Government MSIT. (No. 2018-0-00622) Kyejin Kim is with the School of Mechanical Engineering, Korea University, Seoul, Korea (e-mail: kjp1685@korea.ac.kr). Minwoo Na is with the School of Mechanical Engineering, Korea University, Seoul, Korea (e-mail: jrmwl@korea.ac.kr). Jae-Bok Song, the corresponding author and a senior member of IEEE, is with the School of Mechanical Engineering, Korea University, Seoul, Korea (tel: +82 2 3290 3363; fax: +82 2 3290 3757; e-mail: jbsong@korea.ac.kr).
Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/12
Y1 - 2021/7/12
N2 - A mobile manipulator can perform tasks while moving in a large workspace. However, a combination of a mobile platform and a manipuator creates redundancy, which requires some form of redundancy control. Joint limit avoidance is a representative method of redundancy control. When the conventional method for joint limit avoidance is used, the joint velocity tends to increase rapidly near the joint limits, which may cause velocity divergence. In this study, the method for avoiding the joint limits of a mobile manipulator is proposed to prevent a rapid increase in velocity. A series of experiments show that the proposed method can effectively work in most cases.
AB - A mobile manipulator can perform tasks while moving in a large workspace. However, a combination of a mobile platform and a manipuator creates redundancy, which requires some form of redundancy control. Joint limit avoidance is a representative method of redundancy control. When the conventional method for joint limit avoidance is used, the joint velocity tends to increase rapidly near the joint limits, which may cause velocity divergence. In this study, the method for avoiding the joint limits of a mobile manipulator is proposed to prevent a rapid increase in velocity. A series of experiments show that the proposed method can effectively work in most cases.
UR - http://www.scopus.com/inward/record.url?scp=85112451144&partnerID=8YFLogxK
U2 - 10.1109/UR52253.2021.9494659
DO - 10.1109/UR52253.2021.9494659
M3 - Conference contribution
AN - SCOPUS:85112451144
T3 - 2021 18th International Conference on Ubiquitous Robots, UR 2021
SP - 244
EP - 248
BT - 2021 18th International Conference on Ubiquitous Robots, UR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th International Conference on Ubiquitous Robots, UR 2021
Y2 - 12 July 2021 through 14 July 2021
ER -