Development of a Mobile Manipulator Consisting of an Omnidirectional Mobile Mechanism with Lifting Functions and a Collaborative Dual-Arm Robot

Abstract

In recent years, factory automation has been promoted due to labor shortages.To solve this problem, labor saving and efficiency improvement by introducing collaborative mobile manipulators is attracting attention. The purpose of this study is to develop a collaborative mobile manipulator that emphasizes the vertical working range. A system is integrated using ROS to develop an overall system that controls a collaborative dual-arm robot, an omnidirectional movement mechanism, a lifting mechanism, and sensor system consisting of cameras and LiDAR, and has a function generates movements corresponding to AR markers as landmarks. The results show that developed collaborative mobile manipulator can perform a wide range of tasks and it demonstrated the detection cargo and accomplished cargo transportation tasks.