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Maximization of operational workspace of a mobile manipulator system

 
: Kalidindi, V.V.; Vick, A.; Krüger, J.

:

Institute of Electrical and Electronics Engineers -IEEE-:
4th International Conference on Control, Automation and Robotics, ICCAR 2018. Proceedings : April 20-23, 2018, Auckland, New Zealand
Piscataway, NJ: IEEE, 2018
ISBN: 978-1-5386-6338-7
ISBN: 978-1-5386-6337-0
ISBN: 978-1-5386-6339-4
S.431-436
International Conference on Control, Automation and Robotics (ICCAR) <4, 2018, Auckland>
Englisch
Konferenzbeitrag
Fraunhofer IPK ()

Abstract
This paper puts forward a proposition of designing manipulator setup on a mobile platform so as to enhance the Operational Workspace range of a given Mobile-Manipulator system, by introducing the concept of Installation angle. This concept is theoretically tested on a Mobile-manipulator system built from the chosen robots, for the given operational parameters. As a part of this testing, Manipulator workspace has been expressed and approximated in terms of its enclosure volume for quantitative comparability.

: http://publica.fraunhofer.de/dokumente/N-520304.html