Abstract
In recent years, the use of mobile manipulators for performing pick-and-place operations has increased in multiple workspaces. However, mobile robots often struggle with precise positioning owing to large position estimation errors. Additionally, working with a robot arm can be inconvenient because operators must teach the robot arm each individual workspace. In this study, to address these challenges, we propose a coordinate system matching method based on marker recognition. Additionally, we present an algorithm that creates a trajectory on the basis of the environmental information obtained through sensors and the marker frame of the recognized workspace. This trajectory is then corrected to avoid collisions between the robot and the environment, thereby allowing the mobile manipulator to perform pick-and-place operations in multiple workspaces without operator instructions.
Original language | English |
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Title of host publication | 2023 20th International Conference on Ubiquitous Robots, UR 2023 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 148-153 |
Number of pages | 6 |
ISBN (Electronic) | 9798350335170 |
DOIs | |
Publication status | Published - 2023 |
Event | 20th International Conference on Ubiquitous Robots, UR 2023 - Honolulu, United States Duration: 2023 Jun 25 → 2023 Jun 28 |
Publication series
Name | 2023 20th International Conference on Ubiquitous Robots, UR 2023 |
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Conference
Conference | 20th International Conference on Ubiquitous Robots, UR 2023 |
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Country/Territory | United States |
City | Honolulu |
Period | 23/6/25 → 23/6/28 |
Bibliographical note
Funding Information:This research was supported by the MOTIE under the Indu strial Foundation Technology Development Program supervis ed by KEIT (No. 20008613).
Publisher Copyright:
© 2023 IEEE.
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Networks and Communications
- Computer Vision and Pattern Recognition
- Control and Optimization
- Modelling and Simulation