Pose Planning for a Mobile Manipulator Based on Joint Motions for Posture Adjustment to End-Effector Error

摘要

This paper proposes a motion planning method for a mobile manipulator. In general, humans can grasp an object by various ways which depend on object posture, position and so on. The objective of this paper is to present how to detect the pose of a mobile manipulator under the condition that several ways of grasping are given to the robot. Motion errors and object position errors are considered to detect robot pose in our method because these affect the grasp motion of the robot hand. Coping with these errors, we will propose an effective pose searching method for a mobile manipulator from numerous pose candidates. The performance of the proposed method is illustrated by simulation and experiment.