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Autonomous operation system for complex dexterous manipulation robots
The Mec5 series of intelligent, composite, dexterous robots are all equipped with a robot autonomous operation system. The entire software system is developed based on the ROS framework under the Ubuntu 18.04 system and mainly includes the following functions
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Autonomous operation system for complex dexterous manipulation robots
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The Mec5 series of intelligent, composite, dexterous robots are all equipped with a robot autonomous operation system. The entire software system is developed based on the ROS framework under the Ubuntu 18.04 system and mainly includes the following functions:
- Robotic arm motion trajectory planning: This part is developed using the MoveIt package. Based on the motion instructions issued by the task layer, it autonomously implements task planning and controls the robotic arm for precise operation in Cartesian space. This includes functions such as motion planning, real-time kinematics calculation, and collision detection.
- High-precision autonomous navigation: The robot can autonomously complete map building in unstructured environments and achieve autonomous navigation to various spatial locations based on a priori maps. Compared to differential-drive wheeled chassis, it has more movement modes, including lateral and diagonal movements.
- Multimodal perception: The entire Mec5 series is equipped with multiple sensors, including cameras, lidar, and IMUs. Through self-developed fusion algorithms, it processes multimodal data in real time to achieve autonomous perception of the surrounding operating environment.
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