協働型双腕ロボットと全方位移動ロボットの統合によるモバイルマニピュレーションの試み

抄録

This paper describes the prototyping of a mobile manipulator combined an all four wheel drive and steering type omnidirectional mobile robot and a collaborative dual-arm robot. The purpose of the prototyping is to use a multi-degree of freedom dual arm robot with flexible mobile function to solve different problems in factory background works. In this study, the control system of the integrated robot using the ROS (Robot Operation System) is focused on and targeted prototyping through the simulation model and the physical model. As a stepping stone for the development of the system, the operation program was confirmed using a simulator. In addition, an obstacle detection system using PCL (point cloud library) and an object recognition system using DNN(deep neural network) are expected to be developed in the remaining period.