A Novel Holonomic Mobile Manipulator Robot For Construction Sites

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dc.contributor.authorGmerek, A. J.
dc.contributor.authorPlastropoulos, A.
dc.contributor.authorKimball, M.
dc.contributor.authorSain, A.
dc.contributor.authorShah, K.
dc.contributor.authorWheatley, A.
dc.contributor.authorCollins, P.
dc.contributor.authorKarfakis, P. T.
dc.contributor.authorLiu, J.
dc.contributor.authorCarroll, J.
dc.contributor.authorVirk, G. S.
dc.date2018-11-26
dc.date.accessioned2018-12-04T14:32:13Z
dc.date.available2018-12-04T14:32:13Z
dc.descriptionThis article describes a novel mobile manipulator robot designed to work at height on construction sites. The robot comprises a mobile platform and a scissor lifter on which an ABB 6 dof manipulator is mounted. The mobile base is characterised by holonomic kinematics, provided by a novel designed omnidirectional wheel system that can travel directly and autonomously to desired poses. The robot was successfully tested in a construction site scenario to perform drilling tasks.es-ES
dc.formatapplication/pdf
dc.identifierhttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1910
dc.identifier.urihttps://ridda2.utp.ac.pa/handle/123456789/5781
dc.languagespa
dc.publisherUniversidad Tecnológica de Panamáes-ES
dc.relationhttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1910/2853
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightshttps://creativecommons.org/licenses/by-nc-sa/4.0/
dc.sourceMemorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 183-191es-ES
dc.subjectConstruction site; Mobile manipulation; Holonomic; omni-wheel; ROS.es-ES
dc.titleA Novel Holonomic Mobile Manipulator Robot For Construction Siteses-ES
dc.typeinfo:eu-repo/semantics/article
dc.typeinfo:eu-repo/semantics/publishedVersion

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2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018