~-CM?F-IJl~E --MI!!THOD FOR BASE PLACEMENT IN MOBILE MANIPULATORS
نویسنده
چکیده
This paper addresses the problem of base placement for mobile robots, and proposes a simple off-line solution to determine the appropriate base locations from which the robot can reach a target point. For robots with one degr~of-mobility, the feasible base locations consists of a region on the x-axis the boundaries of which are derived in the paper. The results are used to obtain the base locations so,that the robot can reach a” vertical line, a square surface, and a cubic volume. Two practical applications of the method at the JPL Surface Inspection Laboratory are described: scanning a surface and reaching inside an opening. The results of the paper are extended to mobile robots with two and three degrees-of-mobility.
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