Mobile manipulators have recently been subject to studies and researches thanks to their augmented mobility and interaction capability. In the precision agriculture field, the development and implementation of such systems can be advantageous in every aspect of the farm activities, e.g. harvesting, pruning, or trimming. This paper presents the implementation of a 7 degree of freedom manipulator upon a mobile rover prototype, designed for precision agriculture, in order to perform grape sampling tasks. While the redundancy of the arm is used to perform off-line collision avoidance with the environment and the mobile base itself, thanks to sampling based path planning methods, a closed form inverse kinematics solution allows to select the posture which maximizes the manipulability index of the manipulator. To do so, base mobility is used to reach the target and properly position the arm. The overall architecture was implemented on the real system and successfully validated through experimental tests.


    Access

    Download


    Export, share and cite



    Title :

    Optimal Positioning of Mobile Manipulators Using Closed Form Inverse Kinematics



    Publication date :

    2022-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Optimal Positioning of Mobile Manipulators Using Closed Form Inverse Kinematics

    Colucci, Giovanni / Baglieri, Lorenzo / Botta, Andrea et al. | TIBKAT | 2022


    Optimal Positioning of Mobile Manipulators Using Closed Form Inverse Kinematics

    Colucci, Giovanni / Baglieri, Lorenzo / Botta, Andrea et al. | Springer Verlag | 2022



    A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis

    Zaplana Agut, Isiah / Basañez Villaluenga, Luis | BASE | 2018

    Free access

    Inverse Kinematics of Serial-Chain Manipulators

    Lee, Hong-You | Online Contents | 1996