Mobile manipulation - a mobile platform supporting a manipulator system for an autonomous robot

U. M. Nassal, T. C. Lueth, M. Damm

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

Abstract

In most autonomous mobile manipulator systems, the mobile platform is only used for transporting the manipulators between spatially distributed assembly stations. In general, the mobility of the platform can be exploited to enlarge the workspace of a manipulator system (with one or multiple arms) at a single assembly station. In this article, various approaches to the cooperation of a mobile platform with on-board manipulators are investigated. A concept for one-type of cooperation is introduced and applied to an existing mobile two-arm system.

Original languageEnglish
Title of host publicationTechnical Paper - Society of Manufacturing Engineers. MS
PublisherSME
PagesMS94-218-1-14
EditionMS94-192
StatePublished - 1994
Externally publishedYes
EventProceedings of the 5th World Conference on Robotics Research - Cambridge, MA, USA
Duration: 27 Sep 199429 Sep 1994

Conference

ConferenceProceedings of the 5th World Conference on Robotics Research
CityCambridge, MA, USA
Period27/09/9429/09/94

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