Task-Dependent Comfort Zone, a Base Placement Strategy for Mobile Manipulators Based on Manipulability Measures
Abstract
:1. Introduction
2. Manipulability Measures
2.1. Jacobian Matrix
2.2. Velocity Manipulability Measure
2.3. Force Manipulability Measure
2.4. Stiffness Manipulability Measure
2.5. Dynamic Manipulability Measure
3. Task-Dependent Comfort Zone
3.1. Task Classification
3.2. Motivation
3.3. Recommended Workspace
3.4. Manipulability Measure Norm, Combination, and Constraints
3.5. Comfort Zone Definition
3.6. Comfort Zone Mesh Representation and Target Points
4. Comfort Zone Simulation Examples
4.1. Stanford Robotics Platform
4.2. Mobile Manipulator LeoBot
4.3. Mobile Manipulator Kairos
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Symbol | Formula | Description |
---|---|---|
Equation (13) | Proportional to the volume of the EE velocity ellipsoid, which represents the ability to move the EE with a certain velocity in all directions. | |
Equation (17) | Proportional to the volume of the EE force ellipsoid, which represents the ability to act with a certain force in all directions. | |
Equation (26) | Represents the minimum eigenvalue of the Cartesian stiffness matrix, which characterizes the smallest stiffness in a certain configuration. | |
Equation (34) | Represents the minimum eigenvalue of the weighted dynamic manipulability matrix, which characterizes the smallest acceleration in a certain direction. |
Task Type | Velocity | Force | Stiffness | Acceleration |
---|---|---|---|---|
Pick and Place | High | Moderate | Low | High |
Assembly | Moderate | High | High | Moderate |
Painting | Moderate | Low | Low | Low |
Milling | Low | High | High | Low |
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Sereinig, M.; Manzl, P.; Gerstmayr, J. Task-Dependent Comfort Zone, a Base Placement Strategy for Mobile Manipulators Based on Manipulability Measures. Robotics 2024, 13, 122. https://doi.org/10.3390/robotics13080122
Sereinig M, Manzl P, Gerstmayr J. Task-Dependent Comfort Zone, a Base Placement Strategy for Mobile Manipulators Based on Manipulability Measures. Robotics. 2024; 13(8):122. https://doi.org/10.3390/robotics13080122
Chicago/Turabian StyleSereinig, Martin, Peter Manzl, and Johannes Gerstmayr. 2024. "Task-Dependent Comfort Zone, a Base Placement Strategy for Mobile Manipulators Based on Manipulability Measures" Robotics 13, no. 8: 122. https://doi.org/10.3390/robotics13080122