Algorithm to Automatically Generate Non-Collision Trajectory to Perform Pick-and-Place Operation with a Mobile Manipulator

Inhwan Yoon, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publication2023 20th International Conference on Ubiquitous Robots, UR 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages148-153
Number of pages6
ISBN (Electronic)9798350335170
DOIs
Publication statusPublished - 2023
Event20th International Conference on Ubiquitous Robots, UR 2023 - Honolulu, United States
Duration: 2023 Jun 252023 Jun 28

Publication series

Name2023 20th International Conference on Ubiquitous Robots, UR 2023

Conference

Conference20th International Conference on Ubiquitous Robots, UR 2023
Country/TerritoryUnited States
CityHonolulu
Period23/6/2523/6/28

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

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