Base Position Planning for Picking Tasks by Mobile Manipulators

Abstract

This paper proposes a method for planning a base position of mobile manipulators to perform picking tasks. By using our proposed method, we can find a base position of mobile manipulators where the manipulator can pick up an object placed at any position in a pallet. We first explain a method for solving the inverse kinematics taking the collision between a robot and a pallet into consideration. Then, we show a method for determining a base position. The effectiveness of the proposed method is confirmed by numerical examples.