A Novel Holonomic Mobile Manipulator Robot For Construction Sites

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A. J. Gmerek
A. Plastropoulos
M. Kimball
A. Sain
K. Shah
A. Wheatley
P. Collins
P. T. Karfakis
J. Liu
J. Carroll
G. S. Virk
Enviado: Nov 27, 2018
Publicado: Nov 26, 2018

Resumen

This article describes a novel mobile manipulator robot designed to work at height on construction sites. The robot comprises a mobile platform and a scissor lifter on which an ABB 6 dof manipulator is mounted. The mobile base is characterised by holonomic kinematics, provided by a novel designed omnidirectional wheel system that can travel directly and autonomously to desired poses. The robot was successfully tested in a construction site scenario to perform drilling tasks.

Palabras clave

Construction site, Mobile manipulation, Holonomic, omni-wheel, ROS.

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Cómo citar
Gmerek, A., Plastropoulos, A., Kimball, M., Sain, A., Shah, K., Wheatley, A., Collins, P., Karfakis, P., Liu, J., Carroll, J., & Virk, G. (2018). A Novel Holonomic Mobile Manipulator Robot For Construction Sites. Memorias De Congresos UTP, 1(1), 183-191. Recuperado a partir de http://revistas.utp.ac.pa/index.php/memoutp/article/view/1910