Autonomous Mobile Manipulator

AUTONOMOUS MOBILE MANIPULATOR FOR
USE IN MANUFACURING PROCESSES

AND
INDUSTRIAL AUTOMATION
-An integrated solution to many problems
CONTENTS
 Industrial Requirements
 Problems faced by traditional industrial
automation
 Introduction to the project as a solution
 Current developments
 “LITTLE HELPER”-a case study.
 Our team and relevant experience
 Feasibility of the project
 Concluding remarks
INDUSTRIAL REQUIREMENTS
IMPROVED ERGONOMICS-
Today, robots are widely used in industry to
perform dumb, dangerous, dull and dirty tasks.
 COMMERCIAL BENEFITS-
Robots-based manufacturing increases
product quality, improves work conditions, and
leads to an optimized use of resources.
PROBLEM WITH TRADITIONAL
INDUSTRIAL ROBOTS
 The industrial robots of today are rather
inflexible as they are often dedicated and/or
fixed.
 WHY DO WE NEED FLEXIBLE ROBOT SYSTEMS?
-To produce flexible products
 WHY DO WE NEED TO PRODUCE FLEXIBLE PRODUCTS?

o globalization of markets
o the trade instability
o the explosion of product variety.
o the shift in paradigm from mass production to customized

production
INTRODUCTION
AUTONOMOUS MOBILE MANIPULATOR
INTELLIGENT- NOT CAN MOVE FROM CAN MANIPULATE ON

REQUIRING REAL TIME ONE POINT TO MATERIALS WITHOUT
USER CONTROL OR ANOTHER HUMAN CONTACT
INSTRUCTION.
Definition:
A robot system, containing various connected units or modules , consisting
of a robotic arm mounted on a moving platform,visually.
It reduces the drawbacks of both a separate manipulator arm and an

autonomous grounded vehicle by providing infinite workspace and increasing
operational functionalities.
SOLUTION-MOBILE MANIPULATOR!
EXTENDED USES
Mobile manipulators, either autonomous or
tele-operated, are particularly well suited for
human-like tasks, and they have applications
in many different areas, such as
 Industry (manufacturing, mining,
construction)
 Space exploration
 Military operations
 Home-care (domestic service)
 Health-care (professional service)
MODERN DEVELOPMENT
 At the moment autonomous mobile manipulation is a subject of
major focus in development and research environments.
 Real implementations of mobile manipulators have been limited,

because of reluctance in taking risks by implementing new
technologies . Also within the field of industrial mobile manipulation
the centre of attention has been on optimization of the individual
technologies, while the integration, use and application have been
neglected.
 This means that few implementations of mobile manipulators, in

industrial environments, have been reported.
 Therefore new initiatives are required, in order to realize industrial

acceptance and maturation of autonomous mobile manipulators
“LITTLE HELPER”-a case study
To present an outline of -
 The kind of work to be performed by the
system in the industry.

 The basic modules and working
 Benefits and motivation behind the project
 Current problems to deal with.
 Possible solutions
In short, a real time example.

“LITTLE HELPER”-an introduction
 At the Department of Mechanical and
Manufacturing Engineering, Aalborg
University, Denmark, a research project has
been running since 2007 with the aim to
develop the state-of-the-art autonomous
industrial mobile manipulator called “Little
Helper”.
INTRODUCTION..(contd.)
WHAT SHOULD BE ESTABLISHED?
 Human-machine interaction : Work with or
alongside people
 Machine-machine interaction : Serve usual

production equipment
 Carry out versatile operations at different

workstations in industrial environments
 Operate fully-automatic, in order to realize digital

manufacturing
SPECIFIC APPLICATIONS
Like “Little Helper”, our project must be able to
carry out various applications such as:
 Transportation
 Pick-and-place
 Quality control
 Classification
 Process control
 Dangerous/inaccessible tasks
SPECIFIC APPLICATIONS(contd.)
HOW ARE THE APPLICATIONS
REALISED?
Machine-machine and human-machine is
realized by integrating “Little Helper” on the
general network of the industrial
environment.
 In this way it is possible to schedule and
control globally, as the mobile manipulator

becomes an agent and resource on the same
level as corresponding manufacturing devices
(e.g. stationary robots and production
machines).
WORKING PRINCIPLES
 Before autonomous use, “Little Helper” must
know the environment, which is achieved
through active use of onboard sensors and an
a priori layout of the work area .After this the
mobile manipulator can navigate to and
perform various tasks at the workstations,
depending on the current manufacturing
needs. A typical operation cycle consists of
four steps
WORKING PRINCIPLES(contd.)
 To enhance the diversity of operations, “Little
Helper” is equipped with an automatic tool
change system and different tools, thereby
realizing dexterous manipulation.
 In addition, to increase the degree of

autonomy, “Little Helper” is able to charge
automatically, when reaching a critical battery
level.
PROTOTYPE-LITTLE HELPER-GENERATION 0
HARDWARE
The mobile platform system
 a non-holonomic mobile platform (Neobotix MP-L655)
 on-board scanners (laser-range, ultrasonic and motor
encoders), used for navigation and safety

 Inside the mobile platform is a battery pack, consisting
of lead acid batteries, that generates 24 V DC.

 Furthermore, the mobile platform is equipped with a
2.0 GHz dual core and 2 Gb RAM computer running

Windows XP, which handles the computing for the
individual systems and components.
HARDWARE(contd…)
The manipulator system
 an industrial six DOF robot manipulator
(Adept Viper s650) running on 230 V AC

 adjacent components (power/signal and
communication module).
 A DC/AC inverter is used to invert the 24
VDC from the battery package to 230 VAC.

HARDWARE(contd….)
The tooling system
 pneumatic tool change unit and two tools (a
vacuum device and a parallel gripper) in order to

realize dexterous manipulation.
 In addition, a compressor and air tank is used for
air supply.
The vision system
 a monochrome CCD FireWire camera (1360 ×
1024)
 a digital adjustable motorized lens (iris and focus)
 bar light system.

SOFTWARE
 The software architecture for the “Little Helper”
prototype consists of distributed servers
providing services for each hardware subsystem
which the GUI “FlexRob Studio” interacts and
communicates with.
 The distributed software architecture consists
of one client (“FlexRob Studio”) and one server

for each hardware system carrying out tasks
upon request from the client.
 The client processes the data received and
displays it in “FlexRob Studio”.

SOFTWARE( contd…)
 In order to achieve the desired functionality
and use of “Little Helper”, a general language
for AIMM has been developed .In this way
complex industrial tasks can be solved,
without the operator worrying about
hardware interfaces and low level robot
programming. All aspects are integrated in
“FlexRob Studio”.
SOFTWARE(contd.)
AN INTEGRATED SUMMARY
OUR (TENTATIVE) TEAM AND
RELEVANT EXPERIENCE
 Divyanshu Vadehra(EE,2nd year) 9877245988
 Ayush Mathur (PIE,4th year) 8090144119
 Bharat Goyal (ECE,2nd year) 9780966150
 Shreshth Sharma (ECE,3rd year) 9478072356
 Rachit Shukla (EE,2nd year) 9958564670
FEASIBILITY AND FUNDING
 CHALLENGE 1:Very costly parts and
equipment.
 PLANS:
 1.Propose as YRF projects-stipend 1 to 2 lpa

 2.Robotics Competitions-national and
international
 3.Self funding.
FEASIBILITY AND FUNDING(contd..)
 CHALLENGE 2: A lot of required interdisciplinary insights and integration
 PLANS:
 Online courses and books associated with them.

 https://www.coursera.org/specializations/modernrobotics -a set of 6 courses
with a capstone project on AIMM in the end.
 https://www.edx.org/micromasters/pennx-robotics -a set of 4 courses on

robotics starting from the mathematical and software foundations to locomotion
engineering-what we need to know to analyze and design our mobile platform.
 https://www.edx.org/course/autonomous-mobile-robots
 https://www.edx.org/course/decision-making-for-autonomous-systems
FEASIBILITY AND FUNDING(contd..)
 Teachers and respective departmental
laboratories and equipment.
 Hardwork , time, dedication , talent and an

ability to learn newer things efficiently.
CONCLUDING REMARKS
MY BELIEF:
 Has a good industrial value and therefore
business potential.
 Very robust and versatile.
 Very much feasible.
 Offers very efficient and useful problem
based learning , providing insights into

multiple fields.
 Brilliant engineering experience.
THANK YOU VERY MUCH FOR YOUR
ATTENTION!

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AUTONOMOUS MOBILE MANIPULATOR FOR

USE IN MANUFACURING PROCESSES

-To produce flexible products

 WHY DO WE NEED TO PRODUCE FLEXIBLE PRODUCTS?

o the trade instability

o the explosion of product variety.

o the shift in paradigm from mass production to customized

INTELLIGENT- NOT CAN MOVE FROM CAN MANIPULATE ON

It reduces the drawbacks of both a separate manipulator arm and an

 Real implementations of mobile manipulators have been limited,

 This means that few implementations of mobile manipulators, in

 Therefore new initiatives are required, in order to realize industrial

system in the industry.

In short, a real time example.

 Machine-machine interaction : Serve usual

 Carry out versatile operations at different

 Operate fully-automatic, in order to realize digital

control globally, as the mobile manipulator

 In addition, to increase the degree of

encoders), used for navigation and safety

of lead acid batteries, that generates 24 V DC.

2.0 GHz dual core and 2 Gb RAM computer running

(Adept Viper s650) running on 230 V AC

VDC from the battery package to 230 VAC.

vacuum device and a parallel gripper) in order to

 bar light system.

of one client (“FlexRob Studio”) and one server

displays it in “FlexRob Studio”.

 1.Propose as YRF projects-stipend 1 to 2 lpa

 Online courses and books associated with them.

with a capstone project on AIMM in the end.

 https://www.edx.org/micromasters/pennx-robotics -a set of 4 courses on

 Hardwork , time, dedication , talent and an

based learning , providing insights into

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