Details
| Original language | English |
|---|---|
| Pages (from-to) | 21-26 |
| Number of pages | 6 |
| Journal | Procedia CIRP |
| Volume | 97 |
| Early online date | 11 Feb 2021 |
| Publication status | Published - 2021 |
| Event | 8th CIRP Conference of Assembly Technology and Systems, CATS 2020 - Athens, Greece Duration: 29 Sept 2020 → 1 Oct 2020 |
Abstract
This paper presents a method for autonomous loading, transportation, and unloading of large objects using a nonholonomic mobile manipulator. Here, the size of the transported object is considerably larger than the size of the mobile platform, which is made possible through the use of a roller board. In this way, the mobile manipulator can handle objects that exceed the manipulator's payload. The robot can load and unload the object onto its platform using the differential kinematics of the system for a null space motion to maintain the object's position in space. In order to localise the object, we apply 3D-perception using a depth-camera. While transporting the object to its destination, the robot is considered a tractor-trailer-wheeled system and can navigate using SLAM. Kinematic modelling and practical evaluation prove that the system can potentially take over arduous transportation tasks.
Keywords
- Null space motion, Object handling, Tractor-trailer wheeled robot
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Industrial and Manufacturing Engineering
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In: Procedia CIRP, Vol. 97, 2021, p. 21-26.
Research output: Contribution to journal › Conference article › Research › peer review
}
TY - JOUR
T1 - Handling of large and heavy objects using a single mobile manipulator in combination with a roller board
AU - Recker, Tobias
AU - Heilemann, Florian
AU - Raatz, Annika
PY - 2021
Y1 - 2021
N2 - This paper presents a method for autonomous loading, transportation, and unloading of large objects using a nonholonomic mobile manipulator. Here, the size of the transported object is considerably larger than the size of the mobile platform, which is made possible through the use of a roller board. In this way, the mobile manipulator can handle objects that exceed the manipulator's payload. The robot can load and unload the object onto its platform using the differential kinematics of the system for a null space motion to maintain the object's position in space. In order to localise the object, we apply 3D-perception using a depth-camera. While transporting the object to its destination, the robot is considered a tractor-trailer-wheeled system and can navigate using SLAM. Kinematic modelling and practical evaluation prove that the system can potentially take over arduous transportation tasks.
AB - This paper presents a method for autonomous loading, transportation, and unloading of large objects using a nonholonomic mobile manipulator. Here, the size of the transported object is considerably larger than the size of the mobile platform, which is made possible through the use of a roller board. In this way, the mobile manipulator can handle objects that exceed the manipulator's payload. The robot can load and unload the object onto its platform using the differential kinematics of the system for a null space motion to maintain the object's position in space. In order to localise the object, we apply 3D-perception using a depth-camera. While transporting the object to its destination, the robot is considered a tractor-trailer-wheeled system and can navigate using SLAM. Kinematic modelling and practical evaluation prove that the system can potentially take over arduous transportation tasks.
KW - Null space motion
KW - Object handling
KW - Tractor-trailer wheeled robot
UR - http://www.scopus.com/inward/record.url?scp=85100851972&partnerID=8YFLogxK
U2 - 10.1016/j.procir.2020.05.199
DO - 10.1016/j.procir.2020.05.199
M3 - Conference article
AN - SCOPUS:85100851972
VL - 97
SP - 21
EP - 26
JO - Procedia CIRP
JF - Procedia CIRP
SN - 2212-8271
T2 - 8th CIRP Conference of Assembly Technology and Systems, CATS 2020
Y2 - 29 September 2020 through 1 October 2020
ER -