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  4. Development of dual arm mobile manipulation systems for small part assembly tasks
 
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2014
Conference Paper
Title

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

Abstract
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.
Author(s)
Bubeck, Alexander
Maidel, Benjamin
Garcia Lopez, Felipe
Halt, Lorenz  
Koch, Alexander  
Mainwork
ROSCon 2014, ROS Developer Conference. Online resource  
Project(s)
PRACE  
Funder
European Commission EC  
Conference
ROS Developer Conference (ROSCon) 2014  
File(s)
Download (974.95 KB)
Rights
Use according to copyright law
DOI
10.24406/publica-fhg-386917
Language
English
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA  
Keyword(s)
  • mobile manipulator

  • path planning

  • manipulation

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