한국생산제조학회 학술지 영문 홈페이지
[ Special Issue : Engineering Design of ADBL ]
Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 29, No. 3, pp.182-188
ISSN: 2508-5107 (Online)
Print publication date 15 Jun 2020
Received 23 Mar 2020 Accepted 11 May 2020
DOI: https://doi.org/10.7735/ksmte.2020.29.3.182

ROS를 활용한 모바일 로봇과 매니퓰레이터의 통합

고동현a ; 이재현a ; 김정인a ; 박범솔a ; 이치범a, *
Integration of Mobile Robot and Manipulator Using the ROS
Donghyun Koa ; Jaehyun Leea ; Jungin Kima ; Bumsol Parka ; Chibum Leea, *
aDepartment of Mechanical System Design, Seoul National University of Science & technology

Correspondence to: *Tel.: +82-2-970-6337 E-mail address: chibum@seoultech.ac.kr (Chibum Lee).

Abstract

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.

Keywords:

Mobile manipulator, Service automation, SLAM and navigation, Inverse kinematics

Acknowledgments

이 연구는 서울과학기술대학교 교내 학술연구비 지원으로 수행되었습니다.

References

  • Leidner, D., Dietrich, A., Schmidt, F., Borst, C., AlbuSchaffer, A., 2014, Object-Centered Hybrid Reasoning for WholeBody Mobile Manipulation, International Conference on Robotics and Automation, 1828-1835. [https://doi.org/10.1109/ICRA.2014.6907099]
  • Hamner, B., Koterba, S., Shi, J., Simmons, R., Singh, S., 2010, An Autonomous Mobile Manipulator for Assembly Tasks, Auton Robot, 28:131. [https://doi.org/10.1007/s10514-009-9142-y]
  • Fetch Robotics, n.d., viewed 30 August 2019, Fetch Mobile Manipulaotr, <https://fetchrobotics.com/robotics-platforms/fetch-mobile-manipulator/, >.
  • Robotis, n.d., viewed 20 March 2019, Navigation tuning, <http://emanual.robotis.com/docs/en/platform/turtlebot3/navigation/#tuning-guide/, >.
  • ROS wiki, n.d., viewed 20 March 2019, OpenSlam’s Gmapping in ROS, <http://wiki.ros.org/gmapping/, >.
  • Hess,W., Kohler, D., Rapp, H., Andor, D. 2016, Real-Time Loop Closure in 2D LIDAR SLAM, in Robotics and Automation (ICRA), 2016 IEEE International Conference on. IEEE, 1271-1278. [https://doi.org/10.1109/ICRA.2016.7487258]
  • Grisettiyz, G., Stachniss, C., Burgard, W., 2005, Improving Grid-based SLAM with Rao-Blackwellized Particle Filters by Adaptive Proposals and Selective Resampling, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2432-2437.
  • ROS wiki, n.d., viewed 10 Febrary 2019, ROS in AMCL, <http://wiki.ros.org/amcl/, >.
  • MoveIt, n.d., viewed 30 June 2019, ROS with MoveIt, <https://moveit.ros.org/, >.
  • LaValle, S. M., 1998, Rapidly-exploring random trees: A new tool for path planning, Technical Report. Computer Science Department, Iowa State University (TR 98-11).
  • OpenCR, n.d., viewed 20 March 2019, OpenCR, <http://emanual.robotis.com/docs/en/parts/controller/opencr10/, >.
  • NVIDIA, n.d., viewed 30 June 2019, Realsense in Jetson TX2, <https://www.jetsonhacks.com/2017/08/14/intel-realsense-camera-librealsense-nvidia-jetson-tx-dev-kits/, >.
  • Intel, n.d., viewed 30 June 2019, Intel Realsence d415, <http://wiki.ros.org/RealSense, >.
  • ROS wiki, n.d., viewed 10 November 2019, Find_object, <http://wiki.ros.org/find_object_2d, >.
  • Lee, K. M., Na, S. M. R., Park, J. H., Ann, K. W., Lee, C., 2018, Development of a Dual-arm Service Robot Using Stereo Vision and 6-Axis Manipulators, Journal of the Korean Society of Manufacturing Technology Engineers, 27:3 271-277. [https://doi.org/10.7735/ksmte.2018.27.3.271]
  • Youtube, n.d., viewed 14 November 2019, Performance “Mobile Manipulator”, <https://www.youtube.com/watch?v=7-oHuMfVjQM&t=1s/, >.
  • Github, n.d., viewed 2 December 2019,, Mobile Manipulator ROS Code, <https://github.com/BeomSol/servingbot_ros/, >.
Donghyun Ko

Undergraduate student in the Department of Mechanical System Design Engineering, Seoul National University of Science & Technology.His research interest is robotics.

E-mail: gdh8652@gmail.com

Jaehyun Lee

Undergraduate student in the Department of Mechanical System Design Engineering, Seoul National University of Science & Technology.His/Her research interest is robotics.

E-mail: jaehyun0752@gmail.com

Jungin Kim

Undergraduate student in the Department of Mechanical System Design Engineering, Seoul National University of Science & Technology.His research interest is the design of mechanical system.

E-mail: kimji0708@naver.com

Bumsol Park

Undergraduate student in the Department of Mechanical System Design Engineering, Seoul National University of Science & Technology.His/Her research interest is programming and robotics.

E-mail: pbs1995@naver.com

Chibum Lee

Associate Professor in the Department of Mechanical System Design Engineering, Seoul National University of Science & Technology.His/Her research interest is control systems and robotics.

E-mail: chibun@seoultech.ac.kr