Motion Planning for a Mobile Humanoid Manipulator Working in an Industrial Environment
This paper presents the usage of holonomic mobile humanoid manipulators to carry out autonomous tasks in industrial environments, according to the smart factory concept and the Industry 4.0 philosophy. The problem of transporting lengthy objects, taking into account mechanical limitations, the condi...
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MDPI AG
2021-07-01
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Online Access: | https://www.mdpi.com/2076-3417/11/13/6209 |
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doaj-cb7a95c7d9d54dc8b53f8cf6d5ae5aa72021-07-15T15:31:04ZengMDPI AGApplied Sciences2076-34172021-07-01116209620910.3390/app11136209Motion Planning for a Mobile Humanoid Manipulator Working in an Industrial EnvironmentIwona Pajak0Grzegorz Pajak1Institute of Mechanical Engineering, University of Zielona Gora, 65-516 Zielona Gora, PolandInstitute of Mechanical Engineering, University of Zielona Gora, 65-516 Zielona Gora, PolandThis paper presents the usage of holonomic mobile humanoid manipulators to carry out autonomous tasks in industrial environments, according to the smart factory concept and the Industry 4.0 philosophy. The problem of transporting lengthy objects, taking into account mechanical limitations, the conditions for avoiding collisions, as well as the dexterity of the manipulator arms was considered. The primary problem was divided into three phases, leading to three different types of robotic tasks. In the proposed approach, the pseudoinverse Jacobian method at the acceleration level to solve each of the tasks was used. The redundant degrees of freedom were used to satisfy secondary objectives such as robot kinetic energy, the maximization of the manipulability measure, and the fulfillment mechanical and collision-avoidance limitations. A computer example involving a mobile humanoid manipulator, operating in an industrial environment, illustrated the effectiveness of the proposed method.https://www.mdpi.com/2076-3417/11/13/6209humanoid manipulatormobile robotmotion planningtransportation task |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Iwona Pajak Grzegorz Pajak |
spellingShingle |
Iwona Pajak Grzegorz Pajak Motion Planning for a Mobile Humanoid Manipulator Working in an Industrial Environment Applied Sciences humanoid manipulator mobile robot motion planning transportation task |
author_facet |
Iwona Pajak Grzegorz Pajak |
author_sort |
Iwona Pajak |
title |
Motion Planning for a Mobile Humanoid Manipulator Working in an Industrial Environment |
title_short |
Motion Planning for a Mobile Humanoid Manipulator Working in an Industrial Environment |
title_full |
Motion Planning for a Mobile Humanoid Manipulator Working in an Industrial Environment |
title_fullStr |
Motion Planning for a Mobile Humanoid Manipulator Working in an Industrial Environment |
title_full_unstemmed |
Motion Planning for a Mobile Humanoid Manipulator Working in an Industrial Environment |
title_sort |
motion planning for a mobile humanoid manipulator working in an industrial environment |
publisher |
MDPI AG |
series |
Applied Sciences |
issn |
2076-3417 |
publishDate |
2021-07-01 |
description |
This paper presents the usage of holonomic mobile humanoid manipulators to carry out autonomous tasks in industrial environments, according to the smart factory concept and the Industry 4.0 philosophy. The problem of transporting lengthy objects, taking into account mechanical limitations, the conditions for avoiding collisions, as well as the dexterity of the manipulator arms was considered. The primary problem was divided into three phases, leading to three different types of robotic tasks. In the proposed approach, the pseudoinverse Jacobian method at the acceleration level to solve each of the tasks was used. The redundant degrees of freedom were used to satisfy secondary objectives such as robot kinetic energy, the maximization of the manipulability measure, and the fulfillment mechanical and collision-avoidance limitations. A computer example involving a mobile humanoid manipulator, operating in an industrial environment, illustrated the effectiveness of the proposed method. |
topic |
humanoid manipulator mobile robot motion planning transportation task |
url |
https://www.mdpi.com/2076-3417/11/13/6209 |
work_keys_str_mv |
AT iwonapajak motionplanningforamobilehumanoidmanipulatorworkinginanindustrialenvironment AT grzegorzpajak motionplanningforamobilehumanoidmanipulatorworkinginanindustrialenvironment |
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1721299959902371840 |