This paper presents the development of Modelica model for the youBot manipulator. Whereas other robotic simulations focus on the robot interaction with its environment, Modelica allows the modeling of the manipulator controllers and motors. The model was developed with a Modelica library for the manipulator’s components which provides modularity, reusability and abstraction. A comparison test with the actual system has been performed to ensure the model accuracy. The test shows promising result and provides possible future work. The Modelica model of the youBot manipulator is freely available.
This paper presents the b-it-bots RoboCup@Work team and its current hardware and functional architecture for the KUKA youBot robot.We describe the underlying software framework and the developed capabilities required for operating in industrial environments including features such as reliable and precise navigation, flexible manipulation and robust object recognition.
Mobile manipulators are viewed as an essential component for making the factory of the future become a reality. RoboCup@Work is a competition designed by a group of researchers from the RoboCup community and focuses on the use of mobile manipulators and their integration with automation equipment for performing industrially-relevant tasks. The paper describes the design and implementation of the competition and the experiences made so far.
We present the design and development of a benchmarking testbed for the Factory of the Future. The testbed as a physical installation enables to study, compare and assess robotics scenarios involving the integration of mobile robots and manipulators with automation equipment, large-scale integration of service robots and industrial robots, cohabitation of robots and humans, and cooperation of multiple robots and/or humans. We also report on the lessons learned of using the testbed in recent robotic competitions.
The RoCKIn@Work Challenge
(2014)
The RoCKIn@Home Challenge
(2014)
