DESIGN, FABRICATE AND DEVELOP AN AUTONOMOUS ROBOT SYSTEM WITH 6-DOF ROBOT ARM ON THE ROS PLATFORM

Abstract

Autonomous Mobile Manipulator Robot (AMMR or Mobile Cobots) is a system with the dual advantage of autonomous mobility of a mobile robot and the
dexterity of a six-degree cobot collaborative robot arm. The paper presents the design, mechanical fabrication, kinematic modeling, dynamics and coordinate
axis transformations to standardize the complex robot control problem for an AMMR self-propelled robot on the platform of multi-directional mobile robots
using Mecanum wheels combined with 6-degree Cobot machines, building SLAM system and robot navigation on the operating system platform and
programming for ROS robot