RoBEを用いたモバイルマニピュレータの実時間自己衝突回避制御-第２報手先及び肘先を用いた回避動作と移動ベースを用いた回避動作-

摘要

We propose a real-time self-collision avoidance control method for mobile manipulators.In this method,the mobile manipulator is represented by elastic elements referred to as 'RoBE'. Force generated between these elements.Many avoidance motions could be generated depending on how to control the mobile manipulator hased on the reaction force.In this paper,we propose two types of avoidance motions;the motion by controlling the positions of the manipulator's hand and elbow, and the motion by controlling the positions of the manipulator and the mobile base cooperatively.These avoidance motions are implemented in 'MR Helper',and the experimental results illustrate the validity of the proposed system.