We propose an architecture for grasping on the move in order to facilitate pick and place operations while a mobile manipulator’s base is in motion. Our architecture eliminates the need for the robot to stop and localize in order to perform a pick and place operation which improves efficiency in setting such as industrial automation.
Our framework applies a two-level planner where a base planner is used generate to trajectories for the base, and an arm planner is used to obtain a grasping trajectory given the planned motion of the base. We propose methods for combining and synchronizing these trajectories along with an online method for adjusting the trajectory of the arm to account for any deviation or error in the motion.
We show application to a mobile manipulator robot, which consists of a UR5 arm mounted on a MiR mobile base. We show application to kitting and packing tasks in an industrial setting. Our results demonstrate that the robot is able to reach specified end-effector positions required to perform grasping while the base of the robot is in motion.
A Two-Level Architecture for Mobile Grasping
ARENA2036
Stuttgart Conference on Automotive Production ; 2024 ; Stuttgart, Germany November 21, 2024 - November 22, 2024
Advances in Automotive Production Technology – Digital Product Development and Manufacturing ; Kapitel : 5 ; 58-67
20.06.2025
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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