Design And Development Of Mobile Manipulator Based On ROS

The development of robot technology has brought great convenience to people's life.In order to expand the scope of traditional industrial robots,mobile manipulator composed of mobile platform and robot arm has attracted more and more attention.Mobile manipulator has the functions of moving and operation,and has broad application prospects in warehousing management,special condition operations,intelligent services,automated production,education and scientific research.Through multi-sensor fusion technology,mobile manipulator can locate and navigate in an unknown environment independently,and carry out motion planning of mobile operation,and accomplish the flexible grasp of target using the advantage of multi degree of freedom.The mobile robot designed in this paper has the characteristics of strong load capacity,safety and intelligence.It is mainly composed of two parts,including omnidirectional mobile platform and cooperative manipulator.According to the requirements,a mechanical system and a control system are designed for the mobile manipulator.The system realizes robot motion control,power management and other basic functions,and equipped with various sensors to provide a hardware and software platform for robot development.Based on robot motion control,research on key algorithms of SLAM and path planning is carried out.And an autonomous navigation system is developed based on the robot operating system(ROS),using laser sensors and inertial measurement unit(IMU).The system realizes map building,autonomous navigation and interface display of navigation state in a modular environment.Experimental results show that the system has the characteristics of precise positioning and stable operation.Aiming at the operation function of the mobile manipulator,the motion planning of robot is introduced,including the motion planning of robot arm and the mobile manipulator.Firstly,the kinematics model of the manipulator is studied.Based on motion planning library MoveIt! of ROS,motion planning of the robot arm is realized,which is verified in both the simulation environment and the real environment.Then the paper puts forward a simplified model of the mobile manipulator,and a motion planning system is developed for mobile manipulator based on this model.The system uses laser sensors,IMU and encoders to achieve the joint motion planning for mobile platform and robot arm.Experimental results verify the effectiveness of the system.