Joint limit avoidance of a mobile manipulator for prevention of rapid velocity increase

Kyejin Kim, Minwoo Na, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2021 18th International Conference on Ubiquitous Robots, UR 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages244-248
Number of pages5
ISBN (Electronic)9781665438995
DOIs
Publication statusPublished - 2021 Jul 12
Event18th International Conference on Ubiquitous Robots, UR 2021 - Gangneung-si, Gangwon-do, Korea, Republic of
Duration: 2021 Jul 122021 Jul 14

Publication series

Name2021 18th International Conference on Ubiquitous Robots, UR 2021

Conference

Conference18th International Conference on Ubiquitous Robots, UR 2021
Country/TerritoryKorea, Republic of
CityGangneung-si, Gangwon-do
Period21/7/1221/7/14

ASJC Scopus subject areas

  • Biomedical Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence

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