ForschungPublikationen
Handling of Large and Heavy Objects using a Single Mobile Manipulator in Combination with a Roller Board

Handling of Large and Heavy Objects using a Single Mobile Manipulator in Combination with a Roller Board

Kategorien Konferenz (reviewed)
Jahr 2020
Autoren Recker, T.; Heilemann, F.; Raatz, A.
Veröffentlicht in Procedia CIRP 00 (2019) 000–000 ; 8th CIRP Conference of Assembly Technology and Systems (accepted)
Beschreibung

This paper presents a method for autonomous loading, transportation, and unloading of large objects using a nonholonomic mobile manipulator. Here, the size of the transported object is considerably larger than the size of the mobile platform, which is made possible through the use of a roller board. In this way, the mobile manipulator can handle objects that exceed the manipulator’s payload. The robot can load and unload the object onto its platform using the di erential kinematics of the system for a null space motion to maintain the object’s position in space. In order to localise the object, we apply 3D-perception using a depth-camera. While transporting the object to its destination, the robot is considered a tractor-trailer-wheeled system and can navigate using SLAM. Kinematic modelling and practical evaluation prove that the system can potentially take over arduous transportation tasks.