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Reactive motion planning for mobile continuum arm in dynamic industrial environment

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. Green open access

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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 > 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
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