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Manipulator-Based Grasping Pose Selection by means of
| Content Provider | CiteSeerX |
|---|---|
| Author | Paul, Gavin Kirchner, Nathan Webb, Stephen Richards, David |
| Abstract | This paper presents an alternative to inverse kinematics for mobile manipulator grasp pose selection which integrates obstacle avoidance and joint limit checking into the pose selection process. Given the Cartesian coordinates of an object in 3D space and its normal vector, end-effector pose objectives including collision checking and joint limit checks are used to create a series of cost functions based on sigmoid functions. These functions are optimised using Levenberg-Marquardt’s algorithm to determine a valid pose for a given object. The proposed method has been shown to extend the workspace of the manipulator, eliminating |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Mobile Manipulator Grasp Pose Selection Valid Pose Sigmoid Function Manipulator-based Grasping Pose Selection Joint Limit Check Cost Function End-effector Pose Objective Joint Limit Collision Checking Pose Selection Process Levenberg-marquardt Algorithm Obstacle Avoidance Cartesian Coordinate Normal Vector |
| Content Type | Text |
| Resource Type | Article |
