A Framework for Large-Force Task Planning of Mobile and Redundant Manipulators

Papadopoulos, E; Gonthier, Y

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Gonthier, Y	en
dc.date.accessioned	2014-03-01T01:14:18Z
dc.date.available	2014-03-01T01:14:18Z
dc.date.issued	1999	en
dc.identifier.issn	0741-2223	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/12985
dc.subject.classification	Robotics	en
dc.subject.other	Actuators	en
dc.subject.other	Algorithms	en
dc.subject.other	Control system analysis	en
dc.subject.other	Control system synthesis	en
dc.subject.other	Force control	en
dc.subject.other	Mobile robots	en
dc.subject.other	Motion planning	en
dc.subject.other	Position control	en
dc.subject.other	Redundancy	en
dc.subject.other	Robotics	en
dc.subject.other	Torque control	en
dc.subject.other	Trees (mathematics)	en
dc.subject.other	Cartesian locations	en
dc.subject.other	Force workspace (FW)	en
dc.subject.other	Large-force task planning	en
dc.subject.other	Manipulators	en
dc.title	A Framework for Large-Force Task Planning of Mobile and Redundant Manipulators	en
heal.type	journalArticle	en
heal.identifier.primary	10.1002/(SICI)1097-4563(199903)16:3<151::AID-ROB2>3.0.CO;2-7	en
heal.identifier.secondary	http://dx.doi.org/10.1002/(SICI)1097-4563(199903)16:3<151::AID-ROB2>3.0.CO;2-7	en
heal.language	English	en
heal.publicationDate	1999	en
heal.abstract	A framework tackling the problem of large wrench application using robotic systems with limited force or torque actuators is presented. It is shown that such systems can apply a wrench to a limited set of Cartesian locations called force workspace (FW), and its force capabilities are improved by employing base mobility and redundancy. An efficient numerical algorithm. based on 2(n)-tree decomposition of Cartesian space is designed to generate FW. Based on the FW generation algorithm, a planning method is presented resulting in proper base positioning relative to large-force quasistatic tasks. Additionally, the case of tasks requiring application of a wrench along a given path is considered. Task workspace, the set of Cartesian space locations that are feasible starting positions for such tasks, is shown to be a subset of FW. This workspace is used for identifying prc,per base or task positions guaranteeing task execution along desired paths. Finally, to plan redundant manipulator postures during large-force-tasks, a new method based on a min-max optimization scheme is developed. Unlike norm-based methods, this method guarantees no actuator capabilities are exceeded, and force or torque of the most loaded joint is minimized. Illustrative examples are given demonstrating validity and usefulness of the proposed framework. (C) 1999 John Wiley & Sons, Inc.	en
heal.publisher	JOHN WILEY & SONS INC	en
heal.journalName	Journal of Robotic Systems	en
dc.identifier.doi	10.1002/(SICI)1097-4563(199903)16:3<151::AID-ROB2>3.0.CO;2-7	en
dc.identifier.isi	ISI:000078983800002	en
dc.identifier.volume	16	en
dc.identifier.issue	2-3	en
dc.identifier.spage	151	en
dc.identifier.epage	162	en