A Low-cost Mobile Manipulator for Industrial and Research Applications
Edward Venator · OhioLink ETD Center (Ohio Library and Information Network) · 2013
ABBY is a mobile industrial manipulator, a mobile robot equipped with an industrial robotic arm.The goal in creating this robot was to demonstrate that a robust research platform for mobile industrial manipulation can be created quickly at low cost.This goal was achieved by leveraging commercially-available mass produced hardware and open source software.The resulting mobile manipulator incorporates a suite of commercially-available sensors and processing hardware to enable the robot to operate as an intelligent agent alongside humans.The robot demonstrated its abilities by performing simple navigation and manipulation tasks in a laboratory setting, and will soon be employed in research on autonomous kitting in industrial environments.