Basic manipulation considerations for the articulated body mobile robot
Basic manipulation considerations for the articulated body mobile robot
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关节体移动机器人的基本操纵注意事项
DOI：
10.1109/iros.1998.724650
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
Takeo Hayashi
中科院分区：
文献类型：
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作者：
E. F. Fukushima;S. Hirose;Takeo Hayashi
分析了关节体移动机器人“KORYU(KR)”的移动机械手控制的一些方法。 KR是一类由串联的“单元段”组成的移动机器人，构成一个长长的铰接体，形状类似于火车或蛇。这种配置具有固有的优势，使得身体的自由度（DOF）不仅可以用于“运动”，而且还可以用于“操纵”。为了展示这一特性，我们构建了一个名为 KR-II 的真实机械模型，其最重要的部分配备了 2 DOF 机械臂。在本文中，考虑了两种增加机械臂自由度的配置。第一种方法“固定机械臂”将机器人固定在地面上，因此可以使用众所周知的标准机械臂控制理论来研究操纵控制问题。在第二种方法“移动操纵器”中，特别注意将操纵任务与身体运动（转向）自由度相结合。我们验证了移动操纵可以与早期工作中已经开发的转向控制方法顺利集成。实验结果证明了所提出的增强操纵配置和相应控制方法的有效性。
Some methods of mobile manipulator control for the articulated body mobile robot "KORYU (KR)" are analyzed. KR is a class of mobile robot composed of serially connected "unit segments", configuring a long articulated body which resembles a train or a snake in shape. This configuration has an intrinsic advantage of making possible the use of the body's degrees of freedom (DOF) not only for "locomotion", but also for "manipulation". In order to demonstrate this characteristic we built a real mechanical model called KR-II, equipped with a 2 DOF manipulator in its foremost part. In the paper, two configurations for augmenting the number of this manipulator DOF are considered. The first method "fixed manipulator" considers the robot fixed to the ground, so that the manipulation control issue can be studied using well-known standard manipulator control theories. In the second method "mobile manipulator" special attention is paid to integrating manipulation tasks with body locomotion (steering) freedom. We verify that mobile manipulation can be smoothly integrated with a steering control method already developed in earlier works. Experimental results are shown to demonstrate the validity of the proposed augmented manipulation configurations and respective control methods.