Enhancing accuracy in Mobile Manipulators: Challenges, current solutions and future needs

IF 9.1 1区计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Robotics and Computer-integrated Manufacturing Pub Date : 2025-05-16 DOI:10.1016/j.rcim.2025.103041

Naroa Núñez-Calvo , Gorka Sorrosal , Itziar Cabanes , Aitziber Mancisidor , Jorge Rodríguez-Guerra

引用次数: 0

Abstract

Advances in industry, technology, and external factors like market demands have created new manufacturing challenges. In response, there has been an increase in the use of mobile manipulators, consisting of a robotic arm mounted on a mobile robot. These systems can be suitable for manufacturing operations. However, they still fall short of the precision required for high-performing industrial applications. This article identifies the primary sources of error in mobile manipulators and their components. Existing control strategies are classified, and current developments are reviewed. Lastly, the limitations of actual solutions are highlighted, and key challenges to be addressed are presented.

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提高移动机械手的准确性：挑战，当前解决方案和未来需求

工业、技术和市场需求等外部因素的进步给制造业带来了新的挑战。作为回应，移动机械手的使用有所增加，包括安装在移动机器人上的机械臂。这些系统可以适用于制造操作。然而，它们仍然达不到高性能工业应用所需的精度。本文确定了移动机械手及其部件的主要误差来源。对现有的控制策略进行分类，并对当前的发展进行审查。最后，强调了实际解决方案的局限性，并提出了需要解决的关键挑战。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Robotics and Computer-integrated Manufacturing 工程技术-工程：制造

CiteScore

24.10

自引率

13.50%

发文量

160

审稿时长

50 days

期刊介绍： The journal, Robotics and Computer-Integrated Manufacturing, focuses on sharing research applications that contribute to the development of new or enhanced robotics, manufacturing technologies, and innovative manufacturing strategies that are relevant to industry. Papers that combine theory and experimental validation are preferred, while review papers on current robotics and manufacturing issues are also considered. However, papers on traditional machining processes, modeling and simulation, supply chain management, and resource optimization are generally not within the scope of the journal, as there are more appropriate journals for these topics. Similarly, papers that are overly theoretical or mathematical will be directed to other suitable journals. The journal welcomes original papers in areas such as industrial robotics, human-robot collaboration in manufacturing, cloud-based manufacturing, cyber-physical production systems, big data analytics in manufacturing, smart mechatronics, machine learning, adaptive and sustainable manufacturing, and other fields involving unique manufacturing technologies.