Robot System Integration

Abstract

In previous chapters, a robot system is proposed to work in modern multi-floor buildings as customers’ requests. Besides, a framework for the proposed mobile manipulator to change its work-floors is also presented, which is used as a particular example to demonstrate the final goal of this book without loss of generality. Then, single robotic modules are conducted to complete individual missions related to the proposed framework, including mobile robot navigation, manipulator manipulation, and robot perception works. In this chapter, a robotic decision-making system is presented to integrate single robotic modules, whose purpose is to help the proposed mobile manipulator switch its missions automatically, without human interventions. The robot system integration is conducted on the robot operating system to be compatible with presented robotic modules.