Mission Design of Mobile Manipulators in Cluttered Environments for Service Applications | IGI Global Scientific Publishing
Welcome to the InfoSci Platform
Mission Design of Mobile Manipulators in Cluttered Environments for Service Applications

Mission Design of Mobile Manipulators in Cluttered Environments for Service Applications

Elias K. Xidias (Department of Product and Systems Design Engineering, University of the Aegean, Syros, Greece), Philip N. Azariadis (Department of Product and Systems Design Engineering, University of the Aegean, Syros, Greece), and Nikos A. Aspragathos (Department of Mechanical Engineering & Aeronautics, University of Patras, Patras, Greece)
Copyright: © 2016 |Volume: 4 |Issue: 1 |Pages: 18
ISSN: 2166-7195|EISSN: 2166-7209|EISBN13: 9781466693760|DOI: 10.4018/IJRAT.2016010101
Cite Article Cite Article

MLA

Xidias, Elias K., et al. "Mission Design of Mobile Manipulators in Cluttered Environments for Service Applications." IJRAT vol.4, no.1 2016: pp.1-18. https://doi.org/10.4018/IJRAT.2016010101

APA

Xidias, E. K., Azariadis, P. N., & Aspragathos, N. A. (2016). Mission Design of Mobile Manipulators in Cluttered Environments for Service Applications. International Journal of Robotics Applications and Technologies (IJRAT), 4(1), 1-18. https://doi.org/10.4018/IJRAT.2016010101

Chicago

Xidias, Elias K., Philip N. Azariadis, and Nikos A. Aspragathos. "Mission Design of Mobile Manipulators in Cluttered Environments for Service Applications," International Journal of Robotics Applications and Technologies (IJRAT) 4, no.1: 1-18. https://doi.org/10.4018/IJRAT.2016010101

Export Reference

Mendeley
Favorite Full-Issue Download

Abstract

The purpose of this paper is to present a mission design approach for a service mobile manipulator which is moving and manipulating objects in partly known indoor environments. The mobile manipulator is requested to pick up and place objects on predefined places (stations). The proposed approach is based on the Bump-Surface concept to represent robot's environment through a single mathematical entity. The solution of the mission design problem is searched on a higher dimension Bump-Surface in such a way that its inverse image into the actual robot environment satisfies the given objectives and constraints. The problem's objectives consist of determining the best feasible paths for both the mobile platform and for the manipulator's end-effector so that all the stations are served at the lowest possible cost. Simulation examples are presented to show the effectiveness of the presented approach.

Request Access

You do not own this content. Please login to recommend this title to your institution's librarian or purchase it from the IGI Global Scientific Publishing bookstore.