移動マニピュレータによるピックアンドプレースのための台車位置計画

抄録

The pick and place strategy is important when considering the automation of merchandise display in a supermarket or a convenience store by a mobile manipulator. Since the mobile base is usually heavy and the motion is slow, the minimization of the motion of the mobile base is required. In this paper, to solve this problem, a mobile base position planning method is proposed to enable the pick and place tasks without moving the mobile robot base.