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

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.