论文标题
计划一个高效且可靠的基础序列，用于执行多个挑选任务的移动操纵器
Planning an Efficient and Robust Base Sequence for a Mobile Manipulator Performing Multiple Pick-and-place Tasks
论文作者
论文摘要
在本文中，我们使用移动操纵器有效，稳健地收集在不同托盘中存储的对象。提出了一种基于已预定的可及性数据库的分辨率完整方法，以探索无碰撞逆运动学（IK）解决方案，然后可以确定解决可行基础位置的解决方案。该方法近似于一组代表性的IK解决方案，这些解决方案在解决IK和检查碰撞时特别有用。对于现实世界的应用，我们考虑了基本定位不确定性，并计划了一系列基本位置，以减少收集目标对象的必要基本运动的数量，因此基本序列是可靠的，因为移动操纵器能够完成零件供应的任务，即使有某些偏离计划的基础位置也有一定的偏差。我们的实验证明了与常规基础序列和现实世界应用中的可行性相比的效率。
In this paper, we address efficiently and robustly collecting objects stored in different trays using a mobile manipulator. A resolution complete method, based on precomputed reachability database, is proposed to explore collision-free inverse kinematics (IK) solutions and then a resolution complete set of feasible base positions can be determined. This method approximates a set of representative IK solutions that are especially helpful when solving IK and checking collision are treated separately. For real world applications, we take into account the base positioning uncertainty and plan a sequence of base positions that reduce the number of necessary base movements for collecting the target objects, the base sequence is robust in that the mobile manipulator is able to complete the part-supply task even there is certain deviation from the planned base positions. Our experiments demonstrate both the efficiency compared to regular base sequence and the feasibility in real world applications.
