An Autonomous Mobile Manipulator for Collecting Sample Containers

Zusammenfassung (Abstract) :

In recent years, mobile manipulation is getting more attention in the field of Robotics. The advantage of the mobility in the mobile manipulator is not only to increase the workspace of the manipulator but also to provide a collision free environment for the manipulator. In this paper we describe the method and the results of a mobile manipulator robot(AMPARO) capable of collectingand disturbuting sample containers. The work has been done during a space project IMPERA. The task of the mobile manipulator in the scope of this project is to navigate to a target pose and to collect a sample container from the ground or to disturbute the sample container.