ROS를 활용한 모바일 로봇과 매니퓰레이터의 통합

In this study, a mobile robot and a manipulator were integrated and implemented using ROS (Robot Operating System). Using computer vision, the robot was intended for delivering objects such as beverages and cans to customers in service environments such as cafes and restaurants, and it will contribu...

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Bibliographic Details
Published in한국생산제조학회지 Vol. 29; no. 3; pp. 182 - 188
Main Authors 고동현(Donghyun Ko), 이재현(Jaehyun Lee), 김정인(Jungin Kim), 박범솔(Bumsol Park), 이치범(Chibum Lee)
Format Journal Article
LanguageKorean
Published 한국생산제조학회 01.06.2020
Subjects
기계공학
SLAM and navigation
Mobile manipulator
Inverse kinematics
Service automation
Online AccessGet full text
ISSN2508-5093
2508-5107
DOI10.7735/ksmte.2020.29.3.182

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Summary:In this study, a mobile robot and a manipulator were integrated and implemented using ROS (Robot Operating System). Using computer vision, the robot was intended for delivering objects such as beverages and cans to customers in service environments such as cafes and restaurants, and it will contribute to improvement in work efficiency and service automation. To reduce production costs and weight, we adopted the 4-axis manipulator with gears and motors inside the link so that the manipulator occupied a minimum space within the operating range. To achieve free movement in a narrow workspace, direct drive mechanism with low-cost geared motors was adopted for the mobile platform. KCI Citation Count: 0
ISSN:2508-5093
2508-5107
DOI:10.7735/ksmte.2020.29.3.182