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This paper describes a method for obtaining a mobile manipulator's motion sequence by indicating a goal-hand pose. The proposed method entails recording various robot motions as a large number of… Click to show full abstract
This paper describes a method for obtaining a mobile manipulator's motion sequence by indicating a goal-hand pose. The proposed method entails recording various robot motions as a large number of motion sequences and associated swept volumes (SVs) and then selecting the most appropriate SV for the current situation. In addition, the motion sequences can be altered while the robot is in motion, and the transition motion is generated using sequential quadratic programming, enabling the robot to avoid collisions with obstacles found after it has begun to move. The proposed method's performance is verified by simulation to confirm the appropriate amount of data and the method's superiority. GRAPHICAL ABSTRACT
Journal Title: Advanced Robotics
Year Published: 2023
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