Mobile Robot with Single Manipulator

Mobile robots can navigate and travel in their environment. Autonomous mobile robots have been used by the military, hospitals and warehouses for some years.
This Demonstration shows a conceptual model of a mobile robot with an autonomous guided vehicle (AGV) for navigating within an indoor environment. A six-degrees-of-freedom manipulator is integrated on top of a vehicle, which increases the working ability of the robot.


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[1] J. Denavit and R. S. Hartenberg, “A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices,” Journal of Applied Mechanics, 22(2), 1955 pp. 215–221.
[2] H. Lipkin, “A Note on Denavit-Hartenberg Notation in Robotics,” in ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, CA, 2005. New York: American Society of Mechanical Engineers, 2005. doi:10.1115/DETC2005-85460.
[3] J. J. Craig, Introduction to Robotics: Mechanics and Control, 3rd ed., Upper Saddle River, NJ: Pearson/Prentice Hall, 2005 pp. 62–82.
[4] B. Siciliano and O. Khatib, eds., Springer Handbook of Robotics, Berlin: Springer–Verlag, 2008.
[5] B. Siciliano, L. Sciavicco, L. Villani and G. Oriolo, Robotics: Modelling, Planning and Control, London: Springer, 2009.
[6] D. L. Pieper, “The Kinematics of Manipulators under Computer Control, (Stanford Artificial Intelligence Laboratory Memo, No. AI-72), Ph.D. dissertation, Computer Science Department, School of Humanities and Sciences, Stanford University, CA, 1968. www.dtic.mil/cgi-bin/GetTRDoc?AD=AD0680036.
[7] M. Raghavan and B. Roth, “Kinematic Analysis of the 6R Manipulator of General Geometry,” in Proceedings of the Fifth International Symposium on Robotics Research (H. Miura, ed.), Cambridge, MA: MIT Press, 1990 pp. 263–269. dl.acm.org/citation.cfm?id=112715&CFID=542850644&CFTOKEN=11490130.
[8] D. Manocha and J. F. Canny, “Efficient Inverse Kinematics for General 6R Manipulators,” IEEE Transactions on Robotics and Automation, 10(5), 1994 pp. 648–657. doi:10.1109/70.326569.
[9] R. N. Jazar, Theory of Applied Robotics: Kinematics Dynamics and Control, 2nd ed., New York: Springer, 2010 pp. 341–363.
[10] UR10/CB3 User Manual, Version 3.1, Denmark Odense: Universal Robots A/S, 2015. (Oct 3, 2016) www.universal-robots.com/media/8755/ur10_user_manual _da _global.pdf.
[11] The URScript Programming Language, Version 3.1, Denmark Odense: Universal Robots A/S, 2015. (Oct 3, 2016) www.sysaxes.com/manuels/scriptmanual_en_ 3.1.pdf.
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