Development of a ROS Driver and Support Stack for the KMR iiwa Mobile Manipulator

Fakhruldeen, Hatem, Marquez-Gamez, David and Cooper, Andrew I (2021) Development of a ROS Driver and Support Stack for the KMR iiwa Mobile Manipulator. .

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Abstract

Mobile manipulators are expected to revolutionise robotics applications because they combine mobility and dexterity. Robotics middlewares such as ROS (Robot Operating System) is a key component to develop the capability of these platforms and to research their novel applications. In this paper, we present a complete ROS stack for the KMR iiwa mobile manipulator. This stack comprises of a ROS driver, with a novel architecture, running natively on the platform controller and the essential support packages that allow motion planning, navigation, visualisation and simulation using ROS standard tools and frameworks. To our knowledge, this work is the first ROS 1 (For the purpose of this work the term ROS will refer to ROS 1) package for the KMR iiwa. To demonstrate the capabilities of our work, we present example applications both in simulation and using the real robot. Finally, the proposed stack is used in a heterogeneous multi-robot system in the context of an autonomous chemistry laboratory.

Item Type:	Conference or Workshop Item (Unspecified)
Divisions:	Faculty of Science and Engineering > School of Physical Sciences
Depositing User:	Symplectic Admin
Date Deposited:	06 Dec 2021 08:23
Last Modified:	18 Jan 2023 21:23
DOI:	10.1007/978-3-030-89177-0_31
Open Access URL:	https://lcas.lincoln.ac.uk/wp/wp-content/uploads/2...
Related URLs:	Publisher
URI:	https://livrepository.liverpool.ac.uk/id/eprint/3144686