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Technical Report of Mobile Manipulator Robot for Industrial Environments

Erfan Amoozad Khalili, Kiarash Ghasemzadeh, Hossein Gohari, Mohammadreza Jafari, Matin Jamshidi, Mahdi Khaksar, AmirReza AkramiFard, Mana Hatamzadeh, Saba Sadeghi, Mohammad Hossein Moaiyeri

TL;DR

The @Work team and their robot, developed at Shahid Beheshti University Faculty of Electrical Engineering's Robotics and Intelligent Automation Lab for RoboCup 2024 competitions, is designed for industrial tasks, optimizing efficiency in repetitive or hazardous environments.

Abstract

This paper describes Auriga's @Work team and their robot, developed at Shahid Beheshti University Faculty of Electrical Engineering's Robotics and Intelligent Automation Lab for RoboCup 2024 competitions. The robot is designed for industrial tasks, optimizing efficiency in repetitive or hazardous environments. It features a 4-wheel Mecanum system for omnidirectional movement and a 5-degree-of-freedom manipulator arm with a 3D-printed gripper for object handling and navigation. The electronics include custom boards with ESP32 microcontrollers and an Nvidia Jetson Nano for real-time control. Key software components include Hector SLAM for mapping, A* path planning, and YOLO for object detection, supported by integrated sensors for enhanced navigation and collision avoidance.

Technical Report of Mobile Manipulator Robot for Industrial Environments

TL;DR

The @Work team and their robot, developed at Shahid Beheshti University Faculty of Electrical Engineering's Robotics and Intelligent Automation Lab for RoboCup 2024 competitions, is designed for industrial tasks, optimizing efficiency in repetitive or hazardous environments.

Abstract

This paper describes Auriga's @Work team and their robot, developed at Shahid Beheshti University Faculty of Electrical Engineering's Robotics and Intelligent Automation Lab for RoboCup 2024 competitions. The robot is designed for industrial tasks, optimizing efficiency in repetitive or hazardous environments. It features a 4-wheel Mecanum system for omnidirectional movement and a 5-degree-of-freedom manipulator arm with a 3D-printed gripper for object handling and navigation. The electronics include custom boards with ESP32 microcontrollers and an Nvidia Jetson Nano for real-time control. Key software components include Hector SLAM for mapping, A* path planning, and YOLO for object detection, supported by integrated sensors for enhanced navigation and collision avoidance.
Paper Structure (14 sections, 6 figures, 1 table)

This paper contains 14 sections, 6 figures, 1 table.

Table of Contents

  1. Introduction
  2. Hardware Description
  3. Mechanical Design
  4. Body
  5. Arm
  6. Electrical Design
  7. Sensors
  8. Algorithm and Software full description
  9. Localization and Mapping
  10. Decision-Making and Navigation
  11. Computer Vision
  12. Pick and Place Objects
  13. Robot Operating System
  14. Embedded System Design

Figures (6)

  • Figure 1: photo of the robot.
  • Figure 2: Illustration of the robot body showing mechanical design.
  • Figure 6: Motion Model Equations for 4-Wheel Mecanum Robot
  • Figure 7: SLAM algorithm
  • Figure 12: Arm Kinematics
  • ...and 1 more figures