Toward fully autonomous mobile manipulation for industrial environments

Andreas Dömel, Simon Kriegel, Michael Kaßecker, Manuel Brucker, Tim Bodenmüller, Michael Suppa
2017 International Journal of Advanced Robotic Systems  
This work presents a concept for autonomous mobile manipulation in industrial environments. Utilizing autonomy enables an unskilled human worker to easily configure a complex robotics system in a setup phase before carrying out fetch and carry operations in the execution phase. In order to perform the given tasks in real industrial production sites, we propose a robotic system consisting of a mobile platform, a torque-controlled manipulator, and an additional sensor head. Multiple sensors are
more » ... tached which allow for perception of the environment and the objects to be manipulated. This is essential for coping with uncertainties in real-world application. In order to provide an easy-to-use and flexible system, we present a modular software concept which is handled and organized by a hierarchical flow control depending on the given task and environmental requirements. The presented concept for autonomous mobile manipulation is implemented exemplary for industrial manipulation tasks and proven by real-world application in a water pump production site. Furthermore, the concept has also been applied to other robotic systems and other domains for planetary exploration with a rover.
doi:10.1177/1729881417718588 fatcat:5sgv43z3vbfw7lmosju3mtgapy