Authors
Yi-Fu Chiu, Kai-Tai Song
Corresponding Author
Yi-Fu Chiu
Available Online 2 March 2015.
DOI
https://doi.org/10.2991/jrnal.2015.1.4.3How to use a DOI?
Keywords
Mobile manipulation, visual servoing, visual navigation, robot grasping
Abstract
In this paper, a motion planner is designed and implemented for of a mobile manipulator to travel to a spot for grasping of an object. In this work, the probability of successful grasping inside the workspace of the robot arm is used for grasping planning. A vision SLAM system is combined with reachability calculation to figure out the grasping position. Using a laboratory dual-arm robot, we conducted experiments in different conditions to verify the effectiveness of the developed system.

Copyright
© 2013, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).