Using a model of the reachable workspace to position mobile manipulators for 3-d trajectories

@article{Zacharias2009UsingAM,
  title={Using a model of the reachable workspace to position mobile manipulators for 3-d trajectories},
  author={Franziska Zacharias and Wolfgang Sepp and Christoph Borst and Gerd Hirzinger},
  journal={2009 9th IEEE-RAS International Conference on Humanoid Robots},
  year={2009},
  pages={55-61}
}
Humanoid robots are envisioned in general household tasks. To be able to fulfill a given task the robot needs to be equipped with knowledge concerning the manipulation and interaction in the environment and with knowledge about its own capabilities. When performing actions, e.g. opening doors or imitating human reach to grasp movements special 3-d trajectories are followed with the robot's end-effector. These trajectories can not be executed in every part of the robot's arm workspace. Therefore… CONTINUE READING
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