Development of a Mobile Manipulator Robot for Human-Robot Collaboration

The aim of this research is to study and develop a Mobile Manipulator Robot that can work collaboratively with humans in industrial settings for reducing workload and enhance human safety. The study and development are divided into three aspects: safety, motion control of the robot's base, and manipulation capability of the robot arm. In terms of safety, the objective is to improve the safety efficiency of human-robot collaboration during work. For the motion control of the robot's base, the goal is to enable the robot to move accurately on uneven working surfaces using Mecanum Wheels. As for the manipulation capability of the robot arm, the objective is to expand the working area by utilizing the OpenMANIPULATOR-P robotic arm. All three components of the system are integrated and communicate with each other under the ROS2 framework. This research aims to contribute to the field of robotics by developing a Mobile Manipulator Robot that can effectively collaborate with humans in industrial environments, thereby reducing the workload and increasing safety.