Joint limit avoidance of a mobile manipulator for prevention of rapid velocity increase

Kyejin Kim; Minwoo Na; Jae Bok Song

doi:10.1109/UR52253.2021.9494659

Joint limit avoidance of a mobile manipulator for prevention of rapid velocity increase

Kyejin Kim, Minwoo Na, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

A mobile manipulator can perform tasks while moving in a large workspace. However, a combination of a mobile platform and a manipuator creates redundancy, which requires some form of redundancy control. Joint limit avoidance is a representative method of redundancy control. When the conventional method for joint limit avoidance is used, the joint velocity tends to increase rapidly near the joint limits, which may cause velocity divergence. In this study, the method for avoiding the joint limits of a mobile manipulator is proposed to prevent a rapid increase in velocity. A series of experiments show that the proposed method can effectively work in most cases.

Original language	English
Title of host publication	2021 18th International Conference on Ubiquitous Robots, UR 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	244-248
Number of pages	5
ISBN (Electronic)	9781665438995
DOIs	https://doi.org/10.1109/UR52253.2021.9494659
Publication status	Published - 2021 Jul 12
Event	18th International Conference on Ubiquitous Robots, UR 2021 - Gangneung-si, Gangwon-do, Korea, Republic of Duration: 2021 Jul 12 → 2021 Jul 14

Publication series

Name	2021 18th International Conference on Ubiquitous Robots, UR 2021

Conference

Conference	18th International Conference on Ubiquitous Robots, UR 2021
Country/Territory	Korea, Republic of
City	Gangneung-si, Gangwon-do
Period	21/7/12 → 21/7/14

Bibliographical note

Funding Information:
*This work was supported by IITP grant funded by the Korea Government MSIT. (No. 2018-0-00622) Kyejin Kim is with the School of Mechanical Engineering, Korea University, Seoul, Korea (e-mail: [email protected]). Minwoo Na is with the School of Mechanical Engineering, Korea University, Seoul, Korea (e-mail: [email protected]). Jae-Bok Song, the corresponding author and a senior member of IEEE, is with the School of Mechanical Engineering, Korea University, Seoul, Korea (tel: +82 2 3290 3363; fax: +82 2 3290 3757; e-mail: [email protected]).

Publisher Copyright:
© 2021 IEEE.

ASJC Scopus subject areas

Biomedical Engineering
Mechanical Engineering
Control and Optimization
Artificial Intelligence

Access to Document

10.1109/UR52253.2021.9494659

Cite this

Kim, K., Na, M., & Song, J. B. (2021). Joint limit avoidance of a mobile manipulator for prevention of rapid velocity increase. In 2021 18th International Conference on Ubiquitous Robots, UR 2021 (pp. 244-248). Article 9494659 (2021 18th International Conference on Ubiquitous Robots, UR 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/UR52253.2021.9494659

Joint limit avoidance of a mobile manipulator for prevention of rapid velocity increase. / Kim, Kyejin; Na, Minwoo; Song, Jae Bok.
2021 18th International Conference on Ubiquitous Robots, UR 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 244-248 9494659 (2021 18th International Conference on Ubiquitous Robots, UR 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kim, K, Na, M & Song, JB 2021, Joint limit avoidance of a mobile manipulator for prevention of rapid velocity increase. in 2021 18th International Conference on Ubiquitous Robots, UR 2021., 9494659, 2021 18th International Conference on Ubiquitous Robots, UR 2021, Institute of Electrical and Electronics Engineers Inc., pp. 244-248, 18th International Conference on Ubiquitous Robots, UR 2021, Gangneung-si, Gangwon-do, Korea, Republic of, 21/7/12. https://doi.org/10.1109/UR52253.2021.9494659

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abstract = "A mobile manipulator can perform tasks while moving in a large workspace. However, a combination of a mobile platform and a manipuator creates redundancy, which requires some form of redundancy control. Joint limit avoidance is a representative method of redundancy control. When the conventional method for joint limit avoidance is used, the joint velocity tends to increase rapidly near the joint limits, which may cause velocity divergence. In this study, the method for avoiding the joint limits of a mobile manipulator is proposed to prevent a rapid increase in velocity. A series of experiments show that the proposed method can effectively work in most cases.",

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note = "Funding Information: *This work was supported by IITP grant funded by the Korea Government MSIT. (No. 2018-0-00622) Kyejin Kim is with the School of Mechanical Engineering, Korea University, Seoul, Korea (e-mail: [email protected]). Minwoo Na is with the School of Mechanical Engineering, Korea University, Seoul, Korea (e-mail: [email protected]). Jae-Bok Song, the corresponding author and a senior member of IEEE, is with the School of Mechanical Engineering, Korea University, Seoul, Korea (tel: +82 2 3290 3363; fax: +82 2 3290 3757; e-mail: [email protected]). Publisher Copyright: {\textcopyright} 2021 IEEE.; 18th International Conference on Ubiquitous Robots, UR 2021 ; Conference date: 12-07-2021 Through 14-07-2021",

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Joint limit avoidance of a mobile manipulator for prevention of rapid velocity increase

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