Implementation and Motion Planning of a Dual Arm Service Robot

Hong Bing Tan; Qi Xin Cao; Chun Tao Leng

doi:10.4028/www.scientific.net/AMM.302.561

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 302Implementation and Motion Planning of a Dual Arm...

Implementation and Motion Planning of a Dual Arm Service Robot

Abstract:

This paper describes a dual arm service robotfor restaurant and homeservices. As for the mechanical architecture, we designed an Omni-directional chassis with four wheel-drivensubsystems which are independently suspended so that the robot can move stably and flexibly.Two 6-DOF component-based arms are designed and attached on the robot to fetching objects. A target-guide approach is utilized for path planning to complete object fetching and reception and introducing tasks. We have accomplished the implementation of the dual arm service robot and we have host a robot show with it on the 2010 shanghai EXPO. This robot is warmly welcomed by the visitors and highly praised.

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Periodical:

Applied Mechanics and Materials (Volume 302)

Pages:

561-569

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.302.561

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Online since:

February 2013

Authors:

Hong Bing Tan, Qi Xin Cao, Chun Tao Leng

Keywords:

Motion Planning, Omni Directional Wheel, Service Robot, Suspension

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