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2023 | OriginalPaper | Chapter

Omnidirectional Mobile Manipulator LeoBot for Industrial Environments, Developed for Research and Teaching

Authors : Martin Sereinig, Peter Manzl, Patrick Hofmann, Rene Neurauter, Michael Pieber, Johannes Gerstmayr

Published in: RoboCup 2022: Robot World Cup XXV

Publisher: Springer International Publishing

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Abstract

This paper presents the approach of the RoboCup@Work team tyrolics of the university of Innsbruck to design, develop and build a mobile manipulator with 10 degrees of freedom. The mobile manipulator LeoBot uses Mecanum wheels to enable omnidirectional movement and includes a Franka Emika Panda serial manipulator. This paper focuses on hardware development and provides information on mechanical, electronic, and mechatronic system components. Basic algorithms developed and used for the competition are briefly described.

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previous chapter Adaptive Team Behavior Planning Using Human Coach Commands

next chapter Cyrus2D Base: Source Code Base for RoboCup 2D Soccer Simulation League

RoboCup@Work rulebook 2022, https://github.com/robocup-at-work/rulebook.

Exudyn is a C++ based Python library for efficient simulation of flexible multibody dynamics systems,https://github.com/jgerstmayr/EXUDYN.

Maxon a provider of highprecision drive systems, www.maxongroup.com, Motor: EC-i30, 539487, Gear: GP32C, 166938, Encoder: ENC16RIO4096.

WAGO, Electronic Interconnections, Interface Electronic and Automation Technology, www.wago.com.

Team GIT repository https://github.com/leobot-UIBK/LeoBotRoboCup.

https://www.ros.org/.

rViz, 3D visualizer for ROS.

Robotics simulator CoppeliaSim, www.coppeliarobotics.com/.

https://www.orocos.org/wiki/Kinematic_and_Dynamic_Solvers.html.

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Title: Omnidirectional Mobile Manipulator LeoBot for Industrial Environments, Developed for Research and Teaching
Authors: Martin Sereinig
Peter Manzl
Patrick Hofmann
Rene Neurauter
Michael Pieber
Johannes Gerstmayr
Publisher: Springer International Publishing
Book: RoboCup 2022: Robot World Cup XXV
Print ISBN: 978-3-031-28468-7

Electronic ISBN: 978-3-031-28469-4

Copyright Year: 2023
DOI: https://doi.org/10.1007/978-3-031-28469-4_11

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