Ataka, A;
Shiva, A;
Shafti, A;
Wurdemann, H;
Althoefer, K;
(2016)
Reactive motion planning for mobile continuum arm in dynamic industrial environment.
In: Tokhi, MO and Virk, GS, (eds.)
Advances in Cooperative Robotics: Proceedings of the 19th International Conference on CLAWAR 2016.
(pp. pp. 178-185).
World Scientific: London, UK.
Preview |
Text
Wurdemann_ClawarWorkshop.pdf - Accepted Version Download (2MB) | Preview |
Abstract
Nowadays, rigid-link manipulators have been extensively used in various industrial applications, such as automotive industry and manufacturing operations. Nonetheless, despite of their precise and well-established position control, rigidlink manipulators sufier from their lack of exibility, especially when operated in cluttered, unknown, dynamic environments, as well as their inherent rigidity which limits their applications in a shared human-robot workspace. In this paper, we report our current progress on mobile continuum manipulators application in dynamic environments. The results show that a continuum arm, mounted on a mobile platform and equipped with a reactive motion planner, is a promising candidate to be used in dynamic industrial environments.
| Type: | Proceedings paper |
|---|---|
| Title: | Reactive motion planning for mobile continuum arm in dynamic industrial environment |
| Event: | 19th International Conference on CLAWAR 2016 |
| ISBN-13: | 9789813149120 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1142/9789813149137_0023 |
| Publisher version: | https://doi.org/10.1142/9789813149137_0023 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Reactive Motion Planning, Continuum Arm, Mobile Platform, Dynamic Environment |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering |
| URI: | https://discovery.ucl.ac.uk/id/eprint/1533049 |
Archive Staff Only
 |
View Item |
