Fraunhofer-Gesellschaft

Publica

Hier finden Sie wissenschaftliche Publikationen aus den Fraunhofer-Instituten.

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
S.1240-1243
International Conference on Emerging Technologies and Factory Automation (ETFA) <20, 2015, Luxembourg>
Englisch
Konferenzbeitrag
Fraunhofer IFF ()

Abstract
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.

: http://publica.fraunhofer.de/dokumente/N-383073.html