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Operating articulated objects with force sensitive mobile manipulators

: Hanses, M.; Walter, C.; Lüder, A.


Institute of Electrical and Electronics Engineers -IEEE-:
20th IEEE Conference on Emerging Technologies and Factory Automation, ETFA 2015. Proceedings : September 8-11, 2015, Luxembourg
Piscataway, NJ: IEEE, 2015
ISBN: 978-1-4673-7929-8
ISBN: 978-1-4673-7930-4
International Conference on Emerging Technologies and Factory Automation (ETFA) <20, 2015, Luxembourg>
Fraunhofer IFF ()

Here we present an approach to manipulate a range of articulated objects using a mobile robot equipped with a force sensitive robotic arm. Our system is designed to operate based on programmable rough estimates of initial movement or even without any a priori knowledge at all. We use a manipulability criterion in conjunction with active compliance to plan and execute the desired task.