TY - GEN
T1 - Semiautonomous industrial mobile manipulation for industrial applications
AU - Chen, Heping
AU - Cheng, Hongtai
AU - Zhang, Biao
AU - Wang, Jianjun
AU - Fuhlbrigge, Tom
AU - Liu, Jian
PY - 2013
Y1 - 2013
N2 - The mobile industrial manipulator(MIM) which combines the advantages of both the mobile robot and industrial robot and owns powerful mobility, flexibility and functionality will be the next generation of robots. However fully autonomous MIM performing various tasks in unstructured or semi-structured environment is very challenging in autonomous localization & navigation, object identification, control and coordination. However, there is a demand in industry for MIMs to be deployed in hazardous, dangerous and/or remotely environments. Therefore, a semi-autonomous MIM is investigated to perform industrial operations. An MIM prototype using a mobile platform and an industrial robot is developed. Manual and autonomous methods are proposed and implemented to control the prototype manually and autonomously. Experiments using the prototype were performed. Experimental results demonstrate that the robot can run autonomously if there is no ambiguity and the operators can interrupt the autonomous mode at any time if needed. The developed prototype and proposed methods have big potential in industrial applications.
AB - The mobile industrial manipulator(MIM) which combines the advantages of both the mobile robot and industrial robot and owns powerful mobility, flexibility and functionality will be the next generation of robots. However fully autonomous MIM performing various tasks in unstructured or semi-structured environment is very challenging in autonomous localization & navigation, object identification, control and coordination. However, there is a demand in industry for MIMs to be deployed in hazardous, dangerous and/or remotely environments. Therefore, a semi-autonomous MIM is investigated to perform industrial operations. An MIM prototype using a mobile platform and an industrial robot is developed. Manual and autonomous methods are proposed and implemented to control the prototype manually and autonomously. Experiments using the prototype were performed. Experimental results demonstrate that the robot can run autonomously if there is no ambiguity and the operators can interrupt the autonomous mode at any time if needed. The developed prototype and proposed methods have big potential in industrial applications.
KW - Autonomous Navigation
KW - Industrial Robots
KW - Progressive Bayesian Learning
KW - Semi-autonomous Mobile Industrial Manipulator
UR - http://www.scopus.com/inward/record.url?scp=84893971042&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893971042&partnerID=8YFLogxK
U2 - 10.1109/CYBER.2013.6705472
DO - 10.1109/CYBER.2013.6705472
M3 - Conference contribution
AN - SCOPUS:84893971042
SN - 9781479906109
T3 - 2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2013
SP - 361
EP - 366
BT - 2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2013
T2 - 3rd Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, IEEE-CYBER 2013
Y2 - 26 May 2013 through 29 May 2013
ER -