基于蜂窝连接的固定式机械臂与移动平台的移动协同

2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA ) Pub Date : 2021-09-07 DOI:10.1109/ETFA45728.2021.9613325

Nima Enayati, O. D. Ramos-Cantor, T. Neugebauer, F. Dai, Thomas Hansen, T. Musiol, Monique Düngen, R. Kirsten, M. Aleksy

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引用次数: 2

摘要

本文描述了我们对用于机器人运动规划和控制的LTE/5G蜂窝通信的初步评估工作。该工作包括通信架构的开发、运动规划和验证所提出方法可行性的演示器。在演示的用例中，一个固定的机器人手臂在移动的移动平台上拾取和放置工件，同时仅依赖于通过LTE连接通信的移动平台的定位测量，而不使用任何外部传感器。我们描述了方法、获得的结果、缺点和有希望的未来方向。

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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Using Cellular Connectivity for On-the-move Cooperation of Stationary Manipulator and Mobile Platform

This paper describes our work towards preliminary evaluation of LTE/5G cellular communication for robotics motion planning and control. The work comprises the development of communication architecture, motion planning and a demonstrator that validates the feasibility of the proposed approach. In the demonstrated use case, a stationary robot arm picks and places workpieces from/onto a moving mobile platform while relying only on the mobile platform's localization measurements communicated over LTE connection and not using any external sensors. We describe the approach, obtained results, shortcomings, and promising future directions.

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2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )

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