Cost-effective Mobile Manipulation System

被引：0
|
作者：
Kovac, Domagoj [1 ]
Grbic, Ratko [1 ]
Durovic, Petra [1 ]
Cupec, Robert [1 ]
机构：
[1] Josip Juraj Strossmayer Univ Osijek, Fac Elect Engn Comp Sci & Informat Technol Osijek, Osijek, Croatia
来源：
2018 41ST INTERNATIONAL CONVENTION ON INFORMATION AND COMMUNICATION TECHNOLOGY, ELECTRONICS AND MICROELECTRONICS (MIPRO) | 2018年
关键词：
omnidirectional; mobile manipulator; cost-effective; modular; open-source; ROS;
D O I：
暂无
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
Present trends in robotics favor machines that can interact with unstructured and dynamic environments. This requires superior mobility and manipulation capabilities in robotic systems which are met by using a mobile manipulator. However, commercially available mobile manipulators tend to be quite expensive making robotics research costly and reserved for a niche community of developers. In this paper, development of a cost-effective mobile manipulation system is proposed. The solution is based on low-cost hardware and open-source software that are both modular. It consists of a robot arm mounted on an omnidirectional mobile platform that can be controlled by a remote computer in order to provide computational resources required for demanding mobile manipulation tasks. The modularity of the proposed robot configuration based on the Robot Operating System (ROS) allows for effortless addition of various sensory devices.
引用
收藏
页码：892 / 896
页数：5
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