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Mobile Manipulation with a Kinematically Redundant Manipulator for a Pick-and-Place Scenario

Berntorp, Karl LU ; Årzén, Karl-Erik LU and Robertsson, Anders LU (2012) 2012 IEEE Multi-Conference on Systems and Control In [Host publication title missing] p.1596-1602
Abstract
Mobile robots and robotic manipulators have traditionally been used separately performing different types of tasks. For example, industrial robots have typically been programmed to follow trajectories using position sensors. If combining the two types of robots and adding sensors new possibilities emerge. This enables new applications, but it also raises the question of how to combine the sensors and the added kinematic complexity.

An omni-directional mobile robot together with a new type of kinematically redundant manipulator for future use as a service robot for grocery stores is proposed. The scenario is that of distributing groceries on refilling shelves, and a constraint- based task specification methodology to incorporate... (More)
Mobile robots and robotic manipulators have traditionally been used separately performing different types of tasks. For example, industrial robots have typically been programmed to follow trajectories using position sensors. If combining the two types of robots and adding sensors new possibilities emerge. This enables new applications, but it also raises the question of how to combine the sensors and the added kinematic complexity.

An omni-directional mobile robot together with a new type of kinematically redundant manipulator for future use as a service robot for grocery stores is proposed. The scenario is that of distributing groceries on refilling shelves, and a constraint- based task specification methodology to incorporate sensors and geometric uncertainties into the task is employed. Sensor fusion is used to estimate the pose of the mobile base online. Force sensors are utilized to resolve remaining uncertainties. The approach is verified with experiments. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
[Host publication title missing]
pages
1596 - 1602
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
2012 IEEE Multi-Conference on Systems and Control
external identifiers
  • wos:000320336200224
  • scopus:84873181347
ISSN
1085-1992
project
ENGROSS
language
English
LU publication?
yes
id
91358e1c-a025-4ebd-a3d5-3f7c8fbab682 (old id 2837302)
date added to LUP
2012-06-27 09:05:09
date last changed
2017-06-04 04:08:37
@inproceedings{91358e1c-a025-4ebd-a3d5-3f7c8fbab682,
  abstract     = {Mobile robots and robotic manipulators have traditionally been used separately performing different types of tasks. For example, industrial robots have typically been programmed to follow trajectories using position sensors. If combining the two types of robots and adding sensors new possibilities emerge. This enables new applications, but it also raises the question of how to combine the sensors and the added kinematic complexity.<br/><br>
An omni-directional mobile robot together with a new type of kinematically redundant manipulator for future use as a service robot for grocery stores is proposed. The scenario is that of distributing groceries on refilling shelves, and a constraint- based task specification methodology to incorporate sensors and geometric uncertainties into the task is employed. Sensor fusion is used to estimate the pose of the mobile base online. Force sensors are utilized to resolve remaining uncertainties. The approach is verified with experiments.},
  author       = {Berntorp, Karl and Årzén, Karl-Erik and Robertsson, Anders},
  booktitle    = {[Host publication title missing]},
  issn         = {1085-1992},
  language     = {eng},
  pages        = {1596--1602},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Mobile Manipulation with a Kinematically Redundant Manipulator for a Pick-and-Place Scenario},
  year         = {2012},
}