Abstract
In this paper, we propose a position planning method for mobile redundant manipulator. In order to continuous inspect facilities of infrastructure, it is desirable that autonomous image collection of surface condition using robots. Because of the wide movability and high redundancy, we chose a mobile redundant manipulator. To collect surface image of complicated facilities effectively, position planning of mobile redundant manipulator is very important. We propose a position planning method based on movement cost. Under the condition of uniform shooting, moving positions are determined by trial-and-error. Simulation results show the possibility of autonomous image collection for surface inspection.
