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Görner, Martin und Benedikt, Fabian und Grimmel, Ferdinand und Hulin, Thomas (2020) SwarmRail: A Novel Overhead Robot System for Indoor Transport and Mobile Manipulation. In: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. IEEE. IEEE International Conference on Robotics and Automation (ICRA), 2020-05-31 - 2020-06-04, Paris, Frankreich. doi: 10.1109/ICRA40945.2020.9196972. ISBN 978-172817395-5. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/9196972
Kurzfassung
Swarmrail represents a novel solution to overhead manipulation from a mobile unit that drives in an aboveground rail-structure. The concept is based on the combination of omnidirectional mobile platform and L-shaped rail profiles that form a through-going central gap. This gap makes possible mounting a robotic manipulator arm overhead at the underside of the mobile platform. Compared to existing solutions, Swarmrail enables continuous overhead manipulation while traversing rail crossings. It also can be operated in a robot swarm, as it allows for concurrent operation of a group of mobile Swarmrail units inside a single rail network. Experiments on a first functional demonstrator confirm the functional capability of the concept. Potential fields of applications reach from industry over logistics to vertical farming.
| elib-URL des Eintrags: | https://elib.dlr.de/133813/ | ||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
| Titel: | SwarmRail: A Novel Overhead Robot System for Indoor Transport and Mobile Manipulation | ||||||||||||||||||||
| Autoren: |
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| Datum: | Juni 2020 | ||||||||||||||||||||
| Erschienen in: | 2020 IEEE International Conference on Robotics and Automation, ICRA 2020 | ||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||
| Open Access: | Ja | ||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||
| DOI: | 10.1109/ICRA40945.2020.9196972 | ||||||||||||||||||||
| Verlag: | IEEE | ||||||||||||||||||||
| ISSN: | 1050-4729 | ||||||||||||||||||||
| ISBN: | 978-172817395-5 | ||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||
| Stichwörter: | Wheeled Robots; Mobile Manipulation; Logistics; Factory of the Future, Automation | ||||||||||||||||||||
| Veranstaltungstitel: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||
| Veranstaltungsort: | Paris, Frankreich | ||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
| Veranstaltungsbeginn: | 31 Mai 2020 | ||||||||||||||||||||
| Veranstaltungsende: | 4 Juni 2020 | ||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (alt) | ||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Mechatronische Systeme Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||
| Hinterlegt von: | Görner, Martin | ||||||||||||||||||||
| Hinterlegt am: | 24 Jun 2020 16:40 | ||||||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:37 |
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