Abstract
A mobile manipulator is a mobile platform with a mounted serial manipulator. A Mobile Manipulator is a system subject to its kinematic restrictions and the degrees of freedom of the manipulator arm mounted on it. These systems combine the advantages of mobile platforms and robotic arms, and reduce their disadvantages. For example, a mobile manipulator has larger working space when it has a mobile platform, as it offers more functionality during operation. For the previously mentioned in this work will be shown the implementation in the robotic simulation software Webots, a mobile manipulator that allows to determine its operation in a virtual environment
Highlights
Nowadays, movement planning and control of these systems have attracted a lot of attention due to their usefulness
It is necessary to validate in some way the operation of the mechanisms and/or mathematical algorithms designed for this type of system, so Webots which is a robotic simulation system is appropriate for this type of testing
From a simplified CAD model of the assembled robot, it is imported into the virtual environment, which consists of a node tree that allows the hierarchy of WRML nodes that make up the virtual environment
Summary
Movement planning and control of these systems have attracted a lot of attention due to their usefulness. The control of the mobile manipulators mainly includes two aspects: movement planning, both for the mobile platform and the manipulator, and the other, coordinated control of both. Once you have these two, the step is to assign the task. There is the handling of hazardous materials such as radioactive materials, corrosive or highly polluting materials, for which there is a risk if an operator performs these tasks [3] For this reason, it is necessary to validate in some way the operation of the mechanisms and/or mathematical algorithms designed for this type of system, so Webots which is a robotic simulation system is appropriate for this type of testing
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