Engineering Commons^™

Stochastic Search Methods For Mobile Manipulators, Amoako-Frimpong Samuel Yaw, Matthew Messina, Henry P. Medeiros, Jeremy Marvel, Roger Bostelman

Electrical and Computer Engineering Faculty Research and Publications

Mobile manipulators are a potential solution to the increasing need for additional flexibility and mobility in industrial applications. However, they tend to lack the accuracy and precision achieved by fixed manipulators, especially in scenarios where both the manipulator and the autonomous vehicle move simultaneously. This paper analyzes the problem of dynamically evaluating the positioning error of mobile manipulators. In particular, it investigates the use of Bayesian methods to predict the position of the end-effector in the presence of uncertainty propagated from the mobile platform. The precision of the mobile manipulator is evaluated through its ability to intercept retroreflective markers using …