A Novel Holonomic Mobile Manipulator Robot For Construction Sites

 

Authors
Gmerek, A. J.; Plastropoulos, A.; Kimball, M.; Sain, A.; Shah, K.; Wheatley, A.; Collins, P.; Karfakis, P. T.; Liu, J.; Carroll, J.; Virk, G. S.
Format
Article
Status
publishedVersion
Description

This article describes a novel mobile manipulator robot designed to work at height on construction sites. The robot comprises a mobile platform and a scissor lifter on which an ABB 6 dof manipulator is mounted. The mobile base is characterised by holonomic kinematics, provided by a novel designed omnidirectional wheel system that can travel directly and autonomously to desired poses. The robot was successfully tested in a construction site scenario to perform drilling tasks.

Publication Year
2018
Language
spa
Topic
Construction site; Mobile manipulation; Holonomic; omni-wheel; ROS.
Repository
RI de Documento Digitales de Acceso Abierto de la UTP
Get full text
http://revistas.utp.ac.pa/index.php/memoutp/article/view/1910
http://ridda2.utp.ac.pa/handle/123456789/5781
Rights
openAccess
License
https://creativecommons.org/licenses/by-nc-sa/4.0/