Despite significant advances in robotic technologies, few affordable robots for domestic applications are commercially available. This study aimed to develop an affordable yet practical mobile manipulator for use in household environments. The proposed mobile manipulator features a software-based real-time controller to control the motion of the manipulator and mobile base. The real-time controller was implemented on a single on-board Windows PC and can control the actuator and IO devices via EtherCAT communication. The major functionalities of the mobile manipulator include the pick-and-place of household objects and autonomous navigation within a domestic environment. For pick-and-place tasks, a deep neural network (DNN) was employed to recognize the object to pick up. For autonomous navigation, open-source ROS packages for SLAM and navigation were used along with the measurements from a LiDAR sensor and odometry. The feasibility of using the developed robot for domestic applications was experimentally evaluated.

尽管机器人技术取得了重大进展，但很少有可用于家庭应用的负担得起的机器人在商业上可用。本研究旨在开发一种经济实惠但实用的移动机械手，用于家庭环境。所提出的移动机械手具有基于软件的实时控制器来控制机械手和移动底座的运动。实时控制器在单个板载 Windows PC 上实现，可以通过 EtherCAT 通信控制执行器和 IO 设备。移动机械手的主要功能包括家庭物品的取放和家庭环境中的自主导航。对于拾取和放置任务，采用深度神经网络 (DNN) 来识别要拾取的对象。对于自主导航，用于 SLAM 和导航的开源 ROS 包与来自 LiDAR 传感器和里程计的测量值一起使用。通过实验评估了将开发的机器人用于国内应用的可行性。