{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:19:36Z","timestamp":1760145576748,"version":"build-2065373602"},"reference-count":68,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2024,8,16]],"date-time":"2024-08-16T00:00:00Z","timestamp":1723766400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>The present contribution introduces the task-dependent comfort zone as a base placement strategy for mobile manipulators using different manipulability measures. Four different manipulability measures depending on end-effector velocities, forces, stiffness, and accelerations are considered. By evaluating a discrete subspace of the manipulator workspace with these manipulability measures and using image-processing algorithms, a suitable goal position for the autonomous mobile manipulator was defined within the comfort zone. This always ensures a certain manipulator manipulablity value with a lower limit with respect to the maximum possible manipulability in the discrete subspace. Results are shown for three different mobile manipulators using the velocity-dependent manipulability measure in a simulation.<\/jats:p>","DOI":"10.3390\/robotics13080122","type":"journal-article","created":{"date-parts":[[2024,8,16]],"date-time":"2024-08-16T09:15:41Z","timestamp":1723799741000},"page":"122","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Task-Dependent Comfort Zone, a Base Placement Strategy for Mobile Manipulators Based on Manipulability Measures"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-3330-4359","authenticated-orcid":false,"given":"Martin","family":"Sereinig","sequence":"first","affiliation":[{"name":"Department of Mechatronics, University of Innsbruck, 6020 Innsbruck, Austria"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7707-5524","authenticated-orcid":false,"given":"Peter","family":"Manzl","sequence":"additional","affiliation":[{"name":"Department of Mechatronics, University of Innsbruck, 6020 Innsbruck, Austria"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3576-1830","authenticated-orcid":false,"given":"Johannes","family":"Gerstmayr","sequence":"additional","affiliation":[{"name":"Department of Mechatronics, University of Innsbruck, 6020 Innsbruck, Austria"}]}],"member":"1968","published-online":{"date-parts":[[2024,8,16]]},"reference":[{"key":"ref_1","unstructured":"Brandst\u00f6tter, M., Mirkovic, D., and Hofbaur, M. 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