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Development of dual arm mobile manipulation systems for small part assembly tasks

: Bubeck, Alexander; Maidel, Benjamin; Garcia Lopez, Felipe; Halt, Lorenz; Koch, Alexander

presentation urn:nbn:de:0011-n-3323836 (974 KByte PDF)
MD5 Fingerprint: e498fb6ec2991c423e032c217f1265ef
Created on: 24.3.2015

Open Source Robotics Foundation -OSR-:
ROSCon 2014, ROS Developer Conference. Online resource : September 12-13, 2014, Chicago, Illinois, USA
Chicago/Ill., 2014
19 Folien
ROS Developer Conference (ROSCon) <2014, Chicago/Ill.>
European Commission EC
FP7; 285380; PRACE
Conference Paper, Electronic Publication
Fraunhofer IPA ()
mobile manipulator; path planning; manipulation

The aim of this talk is to describe the implementation and deployment of dual arm assembly tasks using ROS. The development was done in the research project PRACE with an industrial mobile manipulation system consisting of the Fraunhofer rob@work 3 platform and an ABB dual arm concept robot. The experiences in planning and control for dual arm manipulation with ROSIndustrial drivers and MoveIt! are detailed and discussed. Furthermore, the integration of proprietary industrial libraries into a deployable ROS system is covered.