Department of Electronic Engineering, Kyung Hee University, Yongin 17104, Korea.
AgeTech-Service Convergence Major, Department of Electronic Engineering, Kyung Hee University, Yongin 17104, Korea.
Sensors (Basel). 2022 Sep 28;22(19):7369. doi: 10.3390/s22197369.
As the demand for service robots increases, a mobile manipulator robot which can perform various tasks in a dynamic environment attracts great attention. There are some controllers that control mobile platform and manipulator arm simultaneously for efficient performance, but most of them are difficult to apply universally since they are based on only one mobile manipulator model. This lack of versatility can be a big problem because most mobile manipulator robots are made by connecting a mobile platform and manipulator from different companies. To overcome this problem, this paper proposes a simultaneous controller which can be applied not only to one model but also to various types of mobile manipulator robots. The proposed controller has three main characteristics, which are as follows: (1) establishing a pose that motion planning can be carried out in any position, avoiding obstacles and stopping in a stable manner at the target coordinates, (2) preventing the robot from collision with surrounding obstacles while driving, (3) defining a safety area where the manipulator does not hit the obstacles while driving and executing the manipulation accordingly. Our controller is fully compatible with Robot Operating System (ROS) and has been used successfully with three different types of mobile manipulator robots. In addition, we conduct motion planning experiments on five targets, each in two simulation worlds, and two motion planning scenarios using real robots in real-world environments. The result shows a significant improvement in time compared to existing control methods in various types of mobile manipulator and demonstrates that the controller works successfully in the real environment. The proposed controller is available on GitHub.
随着服务机器人需求的增加，能够在动态环境中执行各种任务的移动机械臂机器人引起了极大的关注。有一些控制器可以同时控制移动平台和机械臂臂以实现高效性能，但它们大多数难以普遍应用，因为它们仅基于一种移动机械臂模型。这种缺乏通用性可能是一个大问题，因为大多数移动机械臂机器人都是通过将移动平台和机械臂从不同的公司连接起来制造的。为了克服这个问题，本文提出了一种可以应用于不仅一种模型，而且还可以应用于各种类型的移动机械臂机器人的同时控制器。所提出的控制器具有三个主要特点：（1）建立一个可以在任何位置进行运动规划的姿态，避免障碍物并在目标坐标处稳定停止；（2）在驱动时防止机器人与周围障碍物发生碰撞；（3）定义一个安全区域，在该区域内，机械臂在驱动时不会撞到障碍物，并相应地执行操作。我们的控制器完全兼容机器人操作系统（ROS），已经成功应用于三种不同类型的移动机械臂机器人。此外，我们还在两个模拟世界中的五个目标上以及在真实环境中的两个真实机器人运动规划场景中进行了运动规划实验。结果表明，与各种类型的移动机械臂臂的现有控制方法相比，在时间上有了显著的提高，并证明了控制器在真实环境中成功工作。所提出的控制器可在 GitHub 上获得。
