Using minimax approaches to plan optimal task commutation configurations for combined mobile platform-manipulator systems
An important characteristic of mobile manipulators is their particular kinematic redundancy created by the addition of the degrees of freedom of the platform and those of the manipulator. This kinematic redundancy is very desirable since it allows mobile manipulators to operate under many modes of motion and to perform a wide variety of tasks. On the other hand, it also significantly complicates the problem of planning a series of sequential tasks, in particular for the critical times at which the system needs to switch'' from one task to the other (task commutation), with changes in mode of motion, task requirement and task constraints. This paper focuses on the problem of planning the positions and configurations in which the system needs to be at task commutation in order to assure that it can properly initiate the next task to be performed. An optimization approach has been proposed for this purpose and a variety of optimization criteria were investigated to optimize the task commutation configurations of the system when task requirements involve obstacle avoidance, reach, maneuverability and optimization of strength. In this paper, we show that a minimax'' approach is particularly adapted for most of these requirements. We develop the corresponding criteria and discuss solution algorithms to solve the minimax'' optimization problems. An implementation of the algorithms for our HERMIES-3 mobile manipulator is then described and sample results are presented and discussed. 30 refs., 7 figs.
- Research Organization:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Organization:
- DOE; USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 5828843
- Report Number(s):
- CONF-920540-2; ON: DE91018864
- Country of Publication:
- United States
- Language:
- English
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