一款可全向移动的工业机器人，用于重复或危险环境作业。
Technical Report of Mobile Manipulator Robot for Industrial Environments
- 4轮全向底盘+5自由度机械臂，3D打印夹爪实现灵活操作。
- 搭载ESP32与Jetson Nano，支持实时控制与多传感器融合。
- 集成Hector SLAM、A*路径规划和YOLO检测，适用于复杂工业场景。
本文介绍沙希德·贝赫什蒂大学电气工程学院机器人与智能自动化实验室的Auriga's @Work团队及其为2024年RoboCup竞赛开发的工业机器人。该机器人专为重复性或高危环境中的工业任务设计，采用4轮全向麦卡纳姆底盘实现全向移动，配备5自由度机械臂及3D打印夹爪，完成物体抓取与导航。电子系统包含基于ESP32的定制控制板与Nvidia Jetson Nano，实现实时计算。软件部分集成Hector SLAM进行建图、A*算法实现路径规划、YOLO模型完成目标检测，并通过多传感器数据提升导航与避障能力。
原文摘要 · Abstract (English)
This paper describes Auriga's @Work team and their robot, developed at Shahid Beheshti University Faculty of Electrical Engineering's Robotics and Intelligent Automation Lab for RoboCup 2024 competitions. The robot is designed for industrial tasks, optimizing efficiency in repetitive or hazardous environments. It features a 4-wheel Mecanum system for omnidirectional movement and a 5-degree-of-freedom manipulator arm with a 3D-printed gripper for object handling and navigation. The electronics include custom boards with ESP32 microcontrollers and an Nvidia Jetson Nano for real-time control. Key software components include Hector SLAM for mapping, A* path planning, and YOLO for object detection, supported by integrated sensors for enhanced navigation and collision avoidance.
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