METODOLOGÍA PARA LA INTEGRACIÓN DE UN MANIPULADOR MÓVIL BAJO SOFTWARE LIBRE

Oswualdo Alquisiris Quecha, Francisco Aguilar Acevedo, Ignacio Algredo Badillo, J. Jesús Arellano Pimentel

Resumen


Resumen

Los manipuladores móviles combinan manipuladores y plataformas móviles para obtener sistemas con capacidades extendidas Una de las ventajas que presentan los manipuladores móviles es su amplio espacio de trabajo. Con un propósito didáctico, en este artículo se presenta la integración de un manipulador móvil con ruedas a partir del robot móvil ERA-MOBI y el brazo robótico Smart Robotics Arm. El manipulador móvil que opera bajo Linux en su distribución Fedora 23, fue puesto a prueba bajo un modo de teleoperación. Los experimentos llevados a cabo muestran que nuestro manipulador móvil necesita alrededor de tres minutos para tomar y colocar una sola pieza a 2.5 metros de distancia.

Palabras Claves: Brazo robótico, manipulador móvil, robot móvil.


METHODOLOGY FOR THE INTEGRATION OF A MOBILE MANIPULATOR UNDER FREE SOFTWARE


Abstract

Mobile manipulators combine manipulators and mobile platforms to obtain systems with extended capabilities. Their expanded working space is one of the mobile manipulators’ advantages. The purpose of this article is educational. It presents the integration of a mobile manipulator on wheels, which uses an ERA-MOBI mobile robot and a Smart Robotics Arm. The mobile manipulator, which operates on Linux - Fedora distribution 23, was tested using a remote operative modality. The tests show that our mobile manipulator needs approximately three minutes to take and place a single piece at a distance of 2.5 meters

Keywords: Mobile manipulator, mobile robot, robotic arm.


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