Abstract
This article describes a 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.
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CITATION STYLE
Gmerek, A. J., Plastropoulos, A., Collins, P., Kimball, M., Amit, Wheatley, A., … Virk, G. S. (2019). A novel holonomic mobile manipulator robot for construction sites. In Robotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018 (pp. 375–384). CLAWAR Association Ltd, UK. https://doi.org/10.13180/clawar.2018.10-12.09.36
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