MOBAILE MANIPULATOR ROLLOVER RECOVERY BY USING VISION SYSTEM

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NADERI D.; KARIMI MAHMOUD; SATARI MEHRAN

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Journal Paper

Paper Information

Journal: Sharif Journal of Civil Engineering Year:2007 | Volume:NEW SERIES (23) | Issue:37 Page(s): 59-69

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Title

MOBAILE MANIPULATOR ROLLOVER RECOVERY BY USING VISION SYSTEM

Author(s)

NADERI D. | KARIMI MAHMOUD | SATARI MEHRAN | Issue Writer Certificate

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Abstract

Applications of mobile manipulators over uneven terrain, for doing complex tasks autonomously, will be increased. In many cases, robot control algorithms and path planning methods ignore some characteristics of a robot and its environment. Thus they have a limited performance over uneven terrain. Therefore, robot instability that leads to roll over is not an unexpected matter. In this paper, mobile manipulator rollover recovery, by using a manipulator and a vision system, is presented. A genetic algorithm and a quasi static model are used to find the optimal recovery process. The criterion of optimization is the power consumption of actuators of the mobile manipulator. The power consumption depends on the path that the end effectors negotiate over the surface. To estimate the surface curve, a human like stereo vision is used. Finally, simulation results are presented.

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APA: Copy

NADERI, D., KARIMI, MAHMOUD, & SATARI, MEHRAN. (2007). MOBAILE MANIPULATOR ROLLOVER RECOVERY BY USING VISION SYSTEM. SHARIF: CIVIL ENINEERING, NEW SERIES (23)(37), 59-69. SID. https://sid.ir/paper/128014/en

Vancouver: Copy

NADERI D., KARIMI MAHMOUD, SATARI MEHRAN. MOBAILE MANIPULATOR ROLLOVER RECOVERY BY USING VISION SYSTEM. SHARIF: CIVIL ENINEERING[Internet]. 2007;NEW SERIES (23)(37):59-69. Available from: https://sid.ir/paper/128014/en

IEEE: Copy

D. NADERI, MAHMOUD KARIMI, and MEHRAN SATARI, “MOBAILE MANIPULATOR ROLLOVER RECOVERY BY USING VISION SYSTEM,” SHARIF: CIVIL ENINEERING, vol. NEW SERIES (23), no. 37, pp. 59–69, 2007, [Online]. Available: https://sid.ir/paper/128014/en

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