Motivation
A mobile manipulator is a robotic system consisting of a robotic arm (manipulator) and a self-propelled mobile platform. A mobile manipulator can perform service tasks in industry and research and is then also referred to as a service robot. However, like stationary industrial robots, it can also be used in industrial production. The platform’s maneuverability is of crucial importance for many applications. The degrees of freedom achievable by the entire system depend directly on the number of axes of the manipulator as well as on the maneuverability of the chassis. The full range of motion of 6 degrees of freedom in space is generally achieved only through the combination of a 6-axis manipulator (articulated arm) with an omnidirectional (planar-moving) chassis.
Objective
The research project aims to develop a mobile manipulator with an omnidirectional chassis. To this end, the MIAG CPV 3E omnidirectional research platform will be equipped with a six-axis robotic arm. The omnidirectional manipulator will be used to conduct research in the field of industrial service robotics. The first step is to design a system architecture for the mobile manipulator that enables real-time communication between the platform and arm controllers, as well as with the sensors. This is necessary to ensure synchronized, sensor-guided operation of the platform and arm.
Video of the omnidirectional manipulator
More videos on the Intelligent Mobile Systems Lab’s YouTube channel
Funding
Hochschulinterne Förderung HIFF