[ 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

고동현^a ; 이재현^a ; 김정인^a ; 박범솔^a ; 이치범^a^{, *}

Integration of Mobile Robot and Manipulator Using the ROS

Donghyun Ko^a ; Jaehyun Lee^a ; Jungin Kim^a ; Bumsol Park^a ; Chibum Lee^a^{, *}

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.

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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