Mobipick


Mobipick
Mobipick (Photo: Thomas Frank, DFKI GmbH)

Technical Details

Size: L = 890mm, W = 580mm, H = adjustable
Weight: MiR = 62,5 kg, UR5 = 18,4 kg
Power supply: 2 Batteries Li-NMC 24V, 50Ah (for MiR100 and UR5)
Speed: MiR100 = 1.5 m/s (forward), 0,3 m/s (backwards), UR5 = Joint (max.): 180°/s, TCP(max): 1m/s
Sensors:
Force/Torque Sensor FT300 (mounted on the wrist of the UR5)
Camera Orbbec Astra Mini S (mounted on the wrist of the UR5)
Laser scanner SICK S300 (built-in in the MiR100, front and rear)
Ultrasound scaner (4x, built-in in the MiR100)
3D-Camera Intel RealSense (built-in in the MiR-100)
Communication:
MiR100 = W-LAN, Bluetooth, USB, Ethernet
UR5 = Ethernet, Modbus TCP

Organisational Details

Application Field: Logistics, Production and Consumer
Related Projects: Q-Rock
AI-based Qualification of Deliberative Behaviour for a Robotic Construction Kit (08.2018- 07.2021)
Hybr‐iT
Hybrid and intelligent human-robot collaboration – Hybrid teams in versatile cyber-physical production environments (11.2016- 10.2019)

System description

Mobipick is a mobile manipulator assembled at DFKI and composed of two commercial systems: a mobile platform MiR100 and a robot arm UR5 from Universal Robots.

Furthermore, the robot arm is equipped with a gripper 2F-140 and a force/torque sensor FT300 from Robotiq, as well as wrist camera Orbbec Astra Mini S.

Videos

Mobipick: System Demo

Das Video zeigt den Einsatz des MRK-fähigen, autonomen Robotersystems Mobipick im Hybr-iT Anwendungsszenario "MRK in der Tragflächenausrüstung". Das System ist in der Lage in der Fertigungsumgebung autonom zu navigieren, Werkzeuge zu erkennen, zu manipulieren, zum Werker zu transportieren und ihm passgenau zur Verfügung zu stellen. Dabei verwendet Mobipick semantisch annotierte 3D Umgebungsmodelle der Produktionsumgebung um seine Handlungen autonom zu planen, durchzuführen und die erstellten Pläne gegebenenfalls an Änderungen in der Umgebung anzupassen.

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© DFKI GmbH
last updated 10.09.2019
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