Development of a Dexterous Dual-Arm Omnidirectional Mobile Manipulator

Suárez, Raúl; Palomo-Avellaneda, Leopold; Martínez, Jordi; Costa, Daniel Clos; Garcia, Nestor

doi:10.1016/j.ifacol.2018.11.529

Cited by 11 publications

(9 citation statements)

References 8 publications

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“…SWMR are cheaper and have higher load carrying capacities than other non-conventional wheels (e.g., Swedish or Omni-directional). Hence, for BAZAR, we have chosen this solution, that distinguishes it from similar mobile manipulators, such as MADAR [65] and TOMM [23].…”

Section: Mobilitymentioning

confidence: 99%

“…Modularity gives BAZAR a crucial advantage over "closed" dual arm mobile manipulators, such as Justin 3 , PR2 4 , or AILA [38]. -The use of omidirectional wheels makes BAZAR capable of carrying higher payloads than its counterparts TUM-Rosie 5 , MADAR [65], ARMAR 6 or TOMM [23], all of which are equipped with swedish wheels. This is particularly relevant for industrial applications, such as the kitting pilot case mentioned above.…”

Section: Introductionmentioning

confidence: 99%

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A collaborative robot for the factory of the future: BAZAR

Cherubini

Passama

Navarro

et al. 2019

Int J Adv Manuf Technol

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This paper introduces BAZAR, a collaborative robot that integrates the most advanced sensing and actuating devices in a unique system designed for the Industry 4.0. We present BAZAR's three main features, which are all paramount in the factory of the future. These features are: mobility for navigating in dynamic environments, interaction for operating side-by-side with human workers and dual arm manipulation for transporting and assembling bulky objects. Keywords Efficient, flexible and modular production • Robotics • Smart Assembly • Human-robot co-working • Real industrial world case studies • Digital Manufacturing and Assembly System • Machine Learning.

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Section: Mobilitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A collaborative robot for the factory of the future: BAZAR

Cherubini

Passama

Navarro

et al. 2019

Int J Adv Manuf Technol

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“…Zhang et al (2014) presented a feedback control scheme based on repetitive motion planning. An experimental mobile manipulator composed of a dual-arm torso with a human-like structure assembled on an omnidirectional platform was presented in Suárez et al (2018). Guo et al (2016) analyzed the parameters of kinematic equation of the omnidirectional system which affects its motion accuracy.…”

Section: Introductionmentioning

confidence: 99%

Non-singular terminal sliding mode control of an omnidirectional mobile manipulator based on extended state observer

Ren

Ding

et al. 2021

Int J Intell Robot Appl

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This paper presents a non-singular terminal sliding mode control (NTSMC) design based on an improved extended state observer (IESO) with application to an omnidirectional mobile manipulator (OMM) for trajectory tracking control. Firstly, a unified dynamic model is derived based on Lagrange method for an OMM prototype. An IESO that can reduce the initial peaking phenomenon is applied to estimate the model uncertainties and external disturbances. Then a non-singular terminal sliding mode controller is applied for trajectory tracking control. Stability of the closed-loop system is analyzed using Lyapunov theory. Finally, both simulations and experimental tests verify the effectiveness of the proposed control scheme.

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“…MADAR is a dual-arm mobile manipulator with two commercial UR5 arms mounted on an omnidirectional platform. The mobile platform is driven by three specially designed omni-wheels that differ from commonly used Mecanum wheels [3]. KUKA AG demonstrated the polishing application of the mobile KMR QUANTEC robot in the aerospace industry.…”

Section: Introductionmentioning

confidence: 99%

A novel six-legged walking machine tool for in-situ operations

Liu¹,

Tian²,

Gao³

2020

Front. Mech. Eng.

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The manufacture and maintenance of large parts in ships, trains, aircrafts, and so on create an increasing demand for mobile machine tools to perform in-situ operations. However, few mobile robots can accommodate the complex environment of industrial plants while performing machining tasks. This study proposes a novel six-legged walking machine tool consisting of a legged mobile robot and a portable parallel kinematic machine tool. The kinematic model of the entire system is presented, and the workspace of different components, including a leg, the body, and the head, is analyzed. A hierarchical motion planning scheme is proposed to take advantage of the large workspace of the legged mobile platform and the high precision of the parallel machine tool. The repeatability of the head motion, body motion, and walking distance is evaluated through experiments, which is 0.11, 1.0, and 3.4 mm, respectively. Finally, an application scenario is shown in which the walking machine tool steps successfully over a 250 mm-high obstacle and drills a hole in an aluminum plate. The experiments prove the rationality of the hierarchical motion planning scheme and demonstrate the extensive potential of the walking machine tool for in-situ operations on large parts.

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Development of a Dexterous Dual-Arm Omnidirectional Mobile Manipulator

Cited by 11 publications

References 8 publications

A collaborative robot for the factory of the future: BAZAR

A collaborative robot for the factory of the future: BAZAR

Non-singular terminal sliding mode control of an omnidirectional mobile manipulator based on extended state observer

A novel six-legged walking machine tool for in-situ operations

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