MARC-Modular Autonomous Adaptable Robot Concept

Raimund Edlinger, Andreas Nuechter

Research output: Chapter in Book/Report/Conference proceedingsConference contributionpeer-review

Abstract

The paper introduces a novel modular and adaptable payload concept for plugging in sensor and actuator platforms such as 3D LIDAR and visual sensor systems and robot manipulator and gripper systems. Integration, programming and operation of heterogeneous robot systems (such as mobile manipulators or robots in a machine network) are very complex tasks for plant operators. Heterogeneous system components have to be orchestrated (via proprietary interfaces) by higher-level control systems. Robot programs are created offline, in proprietary tools, and used through macros. System components are generally not compatible and interchangeable across manufacturers. These have to be programmed separately in manufacturer-specific tools. Cross-component debugging is difficult. The operation of complex systems is difficult, requires intensive training, and is currently limited to simple graphical user interfaces (GUI). As part of process optimization, it is usually necessary to optimize process points during the start-up phase. This requires highly skilled personnel capable of robot programming at the plant operators site. The combination of heterogeneous robot modules results in many new hazardous situations. It is therefore necessary to include an appropriate safety concept. The goal is to design a robot payload concept with a plug-and-play approach to be used as a modular and flexible unit. This shall reduce the effort for system integration and sensor calibrating significantly and provide a customized perception of the environment during certain work processes. The modular, autonomous and adaptable robot concept with several sensors and hardware components was implemented as a prototype on a rescue robot. The modules have already been integrated on other autonomous vehicles for exploration and dexterity tasks.

Original languageEnglish
Title of host publication2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages43-49
Number of pages7
ISBN (Electronic)9781728107783
DOIs
Publication statusPublished - Sep 2019
Event2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019 - Wurzburg, Germany
Duration: 2 Sep 20194 Sep 2019

Publication series

Name2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019

Conference

Conference2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019
Country/TerritoryGermany
CityWurzburg
Period02.09.201904.09.2019

Fingerprint

Dive into the research topics of 'MARC-Modular Autonomous Adaptable Robot Concept'. Together they form a unique fingerprint.

Cite this