Probability-Based Pose Planning for Mobile Manipulation

• Main Authors: Chiu, Yi-Fu, 邱奕夫
• Other Authors: Song, Kai-Tai
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/20680976530143666945

碩士 === 國立交通大學 === 電控工程研究所 === 102 === In this thesis, a system is designed and experimented for efficient mobile manipulation of a dual-arm robot. Because of limited workspace of the robot arm, robot grasping may fail if the target object is outside the workspace. At the same time, navigation errors also affect the grasping as the robot needs to move toward the target object. In this thesis, we construct a graspability map to describe the possibility of successful grasping inside workspace of the robot arm and we also construct a reachability map to describe the feasibility the robot can navigate to the target. These two maps are integrated to determine the robot location for grasping the target object. Using a laboratory dual-arm robot, we conducted three experiments in different conditions to verify the efficiency of mobile manipulation task using the proposed method.