A general formulation and approach to constrained, continuum manipulation
A continuum manipulator is particularly suitable for performing tasks in cluttered environments with limited space for maneuvering and is even more flexible with a mobile base. However, to perform a task, the motion of a continuum manipulator must not only avoid obstacles, i.e. subject to environmen...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Li, Jinglin [verfasserIn] |
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| Format: |
Artikel |
|---|---|
| Sprache: |
Englisch |
| Erschienen: |
2015 |
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| Rechteinformationen: |
Nutzungsrecht: © 2015 Taylor & Francis and The Robotics Society of Japan 2015 |
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| Schlagwörter: |
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| Übergeordnetes Werk: |
Enthalten in: Advanced robotics - Utrecht : VNU Sciences Pr., 1986, 29(2015), 13, Seite 889-11 |
|---|---|
| Übergeordnetes Werk: |
volume:29 ; year:2015 ; number:13 ; pages:889-11 |
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| DOI / URN: |
10.1080/01691864.2015.1052846 |
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10.1080/01691864.2015.1052846 doi PQ20160617 (DE-627)OLC1957218177 (DE-599)GBVOLC1957218177 (PRQ)c2382-9e029481e4daa120663e03531b677e3f2a851ef84f44036835bcdf1d42b4d0a00 (KEY)0142017820150000029001300889generalformulationandapproachtoconstrainedcontinuu DE-627 ger DE-627 rakwb eng 004 620 DNB 50.25 bkl Li, Jinglin verfasserin aut A general formulation and approach to constrained, continuum manipulation 2015 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier A continuum manipulator is particularly suitable for performing tasks in cluttered environments with limited space for maneuvering and is even more flexible with a mobile base. However, to perform a task, the motion of a continuum manipulator must not only avoid obstacles, i.e. subject to environment constraints, but also satisfy certain position and orientation constraints imposed by the task. An important open issue is how to enable a (mobile) continuum manipulator to perform a task-constrained motion while avoiding obstacles. In this paper, we introduce a general formulation of the problem and an approach to automatic planning of mobile continuum manipulation under general task and environmental constraints. The effectiveness of the approach is verified by simulation and real experiments. Nutzungsrecht: © 2015 Taylor & Francis and The Robotics Society of Japan 2015 manipulation planning continuum manipulation inspection task-constrained manipulation Xiao, Jing oth Enthalten in Advanced robotics Utrecht : VNU Sciences Pr., 1986 29(2015), 13, Seite 889-11 (DE-627)12921616X (DE-600)55912-X (DE-576)029137179 0169-1864 nnns volume:29 year:2015 number:13 pages:889-11 http://dx.doi.org/10.1080/01691864.2015.1052846 Volltext http://www.tandfonline.com/doi/abs/10.1080/01691864.2015.1052846 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2020 GBV_ILN_2244 50.25 AVZ AR 29 2015 13 889-11 |
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A continuum manipulator is particularly suitable for performing tasks in cluttered environments with limited space for maneuvering and is even more flexible with a mobile base. However, to perform a task, the motion of a continuum manipulator must not only avoid obstacles, i.e. subject to environment constraints, but also satisfy certain position and orientation constraints imposed by the task. An important open issue is how to enable a (mobile) continuum manipulator to perform a task-constrained motion while avoiding obstacles. In this paper, we introduce a general formulation of the problem and an approach to automatic planning of mobile continuum manipulation under general task and environmental constraints. The effectiveness of the approach is verified by simulation and real experiments. |
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A continuum manipulator is particularly suitable for performing tasks in cluttered environments with limited space for maneuvering and is even more flexible with a mobile base. However, to perform a task, the motion of a continuum manipulator must not only avoid obstacles, i.e. subject to environment constraints, but also satisfy certain position and orientation constraints imposed by the task. An important open issue is how to enable a (mobile) continuum manipulator to perform a task-constrained motion while avoiding obstacles. In this paper, we introduce a general formulation of the problem and an approach to automatic planning of mobile continuum manipulation under general task and environmental constraints. The effectiveness of the approach is verified by simulation and real experiments. |
| abstract_unstemmed |
A continuum manipulator is particularly suitable for performing tasks in cluttered environments with limited space for maneuvering and is even more flexible with a mobile base. However, to perform a task, the motion of a continuum manipulator must not only avoid obstacles, i.e. subject to environment constraints, but also satisfy certain position and orientation constraints imposed by the task. An important open issue is how to enable a (mobile) continuum manipulator to perform a task-constrained motion while avoiding obstacles. In this paper, we introduce a general formulation of the problem and an approach to automatic planning of mobile continuum manipulation under general task and environmental constraints. The effectiveness of the approach is verified by simulation and real experiments. |
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| title_short |
A general formulation and approach to constrained, continuum manipulation |
| url |
http://dx.doi.org/10.1080/01691864.2015.1052846 http://www.tandfonline.com/doi/abs/10.1080/01691864.2015.1052846 |
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Xiao, Jing |
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Xiao, Jing |
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| doi_str |
10.1080/01691864.2015.1052846 |
| up_date |
2024-07-03T23:35:51.313Z |
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