Abstract
This paper presents the approach of the RoboCup@Work team tyrolics of the university of Innsbruck to design, develop and build a mobile manipulator with 10 degrees of freedom. The mobile manipulator LeoBot uses Mecanum wheels to enable omnidirectional movement and includes a Franka Emika Panda serial manipulator. This paper focuses on hardware development and provides information on mechanical, electronic, and mechatronic system components. Basic algorithms developed and used for the competition are briefly described.
Supported by the University of Innsbruck and the “Foerderkreis 1669 – Wissenschaft Gesellschaft”.
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Notes
- 1.
RoboCup@Work rulebook 2022, https://github.com/robocup-at-work/rulebook.
- 2.
Exudyn is a C++ based Python library for efficient simulation of flexible multibody dynamics systems,https://github.com/jgerstmayr/EXUDYN.
- 3.
Maxon a provider of highprecision drive systems, www.maxongroup.com, Motor: EC-i30, 539487, Gear: GP32C, 166938, Encoder: ENC16RIO4096.
- 4.
WAGO, Electronic Interconnections, Interface Electronic and Automation Technology, www.wago.com.
- 5.
Team GIT repository https://github.com/leobot-UIBK/LeoBotRoboCup.
- 6.
- 7.
rViz, 3D visualizer for ROS.
- 8.
Robotics simulator CoppeliaSim, www.coppeliarobotics.com/.
- 9.
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Sereinig, M., Manzl, P., Hofmann, P., Neurauter, R., Pieber, M., Gerstmayr, J. (2023). Omnidirectional Mobile Manipulator LeoBot for Industrial Environments, Developed for Research and Teaching. In: Eguchi, A., Lau, N., Paetzel-Prüsmann, M., Wanichanon, T. (eds) RoboCup 2022: Robot World Cup XXV. RoboCup 2022. Lecture Notes in Computer Science(), vol 13561. Springer, Cham. https://doi.org/10.1007/978-3-031-28469-4_11
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