2A1-V01 Base Position Planning for Picking Tasks by Mobile Manipulators(Robotics in Production)

Abstract

This paper proposes a method for planning the base position of mobile manipulators to perform the picking tasks. By using our proposed method, we can find a base position of a mobile manipulator where the manipulator can pick up an object placed at any position of a pallet. We first explain the method for solving inverse kinematics taking the collision between the robot and a pallet into consideration. Then, we show a method for determining the base position. The effectiveness of the proposed method is confirmed by numerical examples.