Version 1
: Received: 5 July 2024 / Approved: 5 July 2024 / Online: 8 July 2024 (02:05:36 CEST)
Version 2
: Received: 9 August 2024 / Approved: 9 August 2024 / Online: 13 August 2024 (03:52:25 CEST)
How to cite:
Sereinig, M.; Manzl, P.; Gerstmayr, J. Task Dependent Comfort Zone, a Base Placement Strategy for Mobile Manipulators based on Manipulability Measures. Preprints2024, 2024070520. https://doi.org/10.20944/preprints202407.0520.v2
Sereinig, M.; Manzl, P.; Gerstmayr, J. Task Dependent Comfort Zone, a Base Placement Strategy for Mobile Manipulators based on Manipulability Measures. Preprints 2024, 2024070520. https://doi.org/10.20944/preprints202407.0520.v2
Sereinig, M.; Manzl, P.; Gerstmayr, J. Task Dependent Comfort Zone, a Base Placement Strategy for Mobile Manipulators based on Manipulability Measures. Preprints2024, 2024070520. https://doi.org/10.20944/preprints202407.0520.v2
APA Style
Sereinig, M., Manzl, P., & Gerstmayr, J. (2024). Task Dependent Comfort Zone, a Base Placement Strategy for Mobile Manipulators based on Manipulability Measures. Preprints. https://doi.org/10.20944/preprints202407.0520.v2
Chicago/Turabian Style
Sereinig, M., Peter Manzl and Johannes Gerstmayr. 2024 "Task Dependent Comfort Zone, a Base Placement Strategy for Mobile Manipulators based on Manipulability Measures" Preprints. https://doi.org/10.20944/preprints202407.0520.v2
Abstract
The present contribution introduces the task dependent comfort zone as a base placement strategy for mobile manipulators using different manipulability measures. Four different manipulability measures depending on end-effector velocities, forces, stiffness, and accelerations are considered. By evaluating a discrete subspace of the manipulator workspace with these manipulability measures and by using image processing algorithms, a suitable goal position for the autonomous mobile manipulator was defined within the comfort zone. This always ensures a certain manipulator manipulablity value with a lower limit in respect to the maximum possible manipulability in the discrete subspace. Results are shown for three different mobile manipulators using the velocity dependent manipulability measure in a simulation.
Keywords
mobile manipulation; autonomous mobile manipulator; manipulability measure; task dependent comfort zone
Subject
Engineering, Control and Systems Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
