Development of dual-arm mobile robot platform based on ROS

Cobot ◽  
2022 ◽  
Vol 1 ◽  
pp. 4
Author(s):  
Rui Xu ◽  
Lu Qian ◽  
Xingwei Zhao
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Subsequent Development ◽  
Mobile Platform ◽  
Platform Design ◽  
Practical Applications ◽  
Control Framework ◽  
Increasing Demand ◽  
Application Requirements ◽  
Dual Arm

Background: With the increasing demand of mobile robots in warehousing, logistics and service fields, simple planar motion is difficult to meet the task requirements of complex environment. The combination of mobile robot and cooperative robot is helpful to improve the dexterity of robot movement and expand the application of robots. Methods: Aiming at the application requirements of dual-arm robots and mobile robots in practical applications, this paper designed the hardware of a platform, built a simulation platform based on ROS (Robot Operating System), and designed the actual software control framework. Finally, the feasibility of the platform design was verified by the coupling motion experiment of the two robots. Results:  We have established a simulation of the dual-arm mobile platform in ROS, designed the actual software control framework, and verified the feasibility of the platform design through experiments. Conclusions:  The mobile platform can meet a variety of application requirements and lay the foundation for subsequent development.

Development of a Series of RT-Mover, Which is a Four-Wheel Type of Mobile Platform with an Ability of Negotiating Obstacles

2015 ◽  
Vol 27 (5) ◽  
pp. 587-589
Author(s):  
Shuro Nakajima ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Daily Life ◽  
Mobile Platform ◽  
Rough Terrain ◽  
Personal Mobility ◽  
Leg Motion

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270005/16.jpg"" width=""300"" /> Personal mobility vehicles</div> We have developed the RT-Mover series of mobile robots because of the strong demand for mobile robot platforms for use on rough terrain. They look like ordinary four-wheel vehicles but are mobile enough to operate on targeted rough terrain encountered in daily life. The advantage of this series is that individual wheels negotiate obstacles with their own leg motion mechanisms. </span>

Omnidirectional Mobile Platform for Research and Development

2002 ◽  
Vol 14 (2) ◽  
pp. 105-111 ◽  
Author(s):  
Kuniaki Kawabata ◽  
◽  
Tsuyoshi Suzuki ◽  
Hayato Kaetsu ◽  
Hajime Asama
Keyword(s):  
Research And Development ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Mobility ◽  
Mobile Platform ◽  
Driving Mechanism ◽  
Omnidirectional Mobile Robot ◽  
Robotic Soccer ◽  
Omnidirectional Mobile Platform

We detail an omnidirectional mobile platform for research and development (R&D). In 1995, we reported that a special driving mechanism for holonomic omnidirectional mobile robots was designed to enable 3 degree of freedom (DOF) motion control by 3 corresponding actuators decoupled with no redundancy. We constructed a omnidirectional mobile robot prototype with a drive. We took part in a RoboCup tournament as Uttori United with omnidirectional mobile robots: ZEN-450, using our driving mechanism, in 1997, and 2000. ZEN-450 showed high mobility during the tournament However, unpredictable problems occurred because ZEN-450 is not developed for robotic soccer. , We considered improving its hardware as a platform. We report the new platform and test-running results.

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

Vision for mobile robots

1992 ◽  
Vol 337 (1281) ◽  
pp. 341-350 ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Structure From Motion ◽  
Optic Flow ◽  
Image Sequences ◽  
Additional Constraint ◽  
Feature Points ◽  
Scene Structure ◽  
Corner Points ◽  
Edge Points

Localized feature points, particularly corners, can be computed rapidly and reliably in images, and they are stable over image sequences. Corner points provide more constraint than edge points, and this additional constraint can be propagated effectively from corners along edges. Implemented algorithms are described to compute optic flow and to determine scene structure for a mobile robot using stereo or structure from motion. It is argued that a mobile robot may not need to compute depth explicitly in order to navigate effectively.

Internal and Consulting Information Flows in the Process of Knowledge Accumulation

2019 ◽  
Vol 15 (1) ◽  
pp. 19-36 ◽  
Author(s):  
Wiliam Acar ◽  
Rami al-Gharaibeh
Keyword(s):  
Knowledge Creation ◽  
Practical Applications ◽  
Seci Model ◽  
Top Managers ◽  
Deductive Synthesis ◽  
Proposed Model ◽  
Control Framework ◽  
Recent Developments ◽  
And Control ◽  
Knowledge Hierarchy

Practical applications of knowledge management are hindered by a lack of linkage between the accepted data-information-knowledge hierarchy with using pragmatic approaches. Specifically, the authors seek to clarify the use of the tacit-explicit dichotomy with a deductive synthesis of complementary concepts. The authors review appropriate segments of the KM/OL literature with an emphasis on the SECI model of Nonaka and Takeuchi. Looking beyond equating the sharing of knowledge with mere socialization, the authors deduce from more recent developments a knowledge creation, nurturing and control framework. Based on a cyclic and upward-spiraling data-information-knowledge structure, the authors' proposed model affords top managers and their consultants opportunities for capturing, debating and storing richer information – as well as monitoring their progress and controlling their learning process.

scholarly journals Energy Modeling and Power Measurement for Mobile Robots

Energies ◽  
2018 ◽  
Vol 12 (1) ◽  
pp. 27 ◽  
Author(s):  
Linfei Hou ◽  
Liang Zhang ◽  
Jongwon Kim
Keyword(s):  
Control System ◽  
Energy Consumption ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Electrical Power ◽  
Energy Model ◽  
Energy Modeling ◽  
Power Measurement ◽  
Sensor System ◽  
System Control

To improve the energy efficiency of a mobile robot, a novel energy modeling method for mobile robots is proposed in this paper. The robot can calculate and predict energy consumption through the energy model, which provides a guide to facilitate energy-efficient strategies. The energy consumption of the mobile robot is first modeled by considering three major factors: the sensor system, control system, and motion system. The relationship between the three systems is elaborated by formulas. Then, the model is utilized and experimentally tested in a four-wheeled Mecanum mobile robot. Furthermore, the power measurement methods are discussed. The energy consumption of the sensor system and control system was at the milliwatt level, and a Monsoon power monitor was used to accurately measure the electrical power of the systems. The experimental results showed that the proposed energy model can be used to predict the energy consumption of the robot movement processes in addition to being able to efficiently support the analysis of the energy consumption characteristics of mobile robots.

A Task Based Approach to Mechatronic Systems Education

Volume 3 ◽  
2004 ◽  
Author(s):  
Kevin Firth ◽  
Brian Surgenor ◽  
Peter Wild
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Systems Engineering ◽  
Educational Tool ◽  
Electronic Components ◽  
Mechatronic Systems ◽  
Student Workload ◽  
Hands On ◽  
Hands On Learning ◽  
Elective Course

This paper describes an elective course in mechatronic systems engineering that is project based and team-oriented with hands-on learning. Working in small teams, students add electronic components to a mobile robot base and write the programs required to make the robot perform a series of tasks. Although the application of mobile robots as an educational tool in a mechatronics course is becoming the norm at many universities, the task based organization of the Queen’s mechatronics course is believed to have a number of novel features. The paper will review the pedagogy of the course, including aspects of the student workload, the interplay between teams, and the task based approach to marking and organization of the laboratories.

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