PFN has released the unique mobile manipulator "SK01" under development at the Robot Society

Mobile manipulator "SK01"

　The biggest feature of the SK01 is that there is another sub arm with a camera on the work arm on the elastic elevation unit.With this sub -arm, the end effector (robot hand) at the tip of the arm to work is always in the field of camera.At the same time, it was compatible.

　Robot is 0 height.9m to 1.65m.The width is 60cm.The weight is 80kg.The degree of freedom is 12 in all.The breakdown is 2 with a truck wheel, 3 sub arms on the arm, the rest, the rise and down, and the bogie turning axis.The wheels contain a load sensor, detecting the bias of the center of gravity and suppressing falling.

　The reach of the arm is from 0m to 1.5m.740mm radius.TCP (tool center point) speed is 1m/s.The portable quality is 3kg (including end effectors).This was set from a mass that people carry as a daily work.End effectors can be replaced.By gacha, you can switch to an end effector for different uses.

　The movement speed is up to 2km/h.Transfer performance is 5mm in step and 5 degrees slopes.The operation time is about 8 hours.The battery is a lithium -ion battery (24V).

　The wrist has a built -in 6 -axis sensor.In order to avoid being too heavy as a mechanical system, we aimed to compensate with software without seeking rigidity.In addition, "SK01" has a unit structure and can be divided into three parts.It is said that it can be assembled on the spot to enable robot experiments.Since it is a robot that coexists with people, it is considered to prevent the joints in between.

　The electrical system uses a general bus, and the drive system and multimedia system are separated and distributed.Considering maintenance and cost, the type of substrate was reduced as much as possible, and a large number of sensor connection was realized with a small substrate variety.The control system uses a Can-FD (Can with Flexible Data Rate) that can send and receive high-capacity data.Multimedia is USB 3.Use 1.

　Software has separated lower systems and higher systems in consideration of safety and real -timeability.Both are connected by Can-FD.The lower system is in charge of functions related to actual time and functional safety, and controls motor drivers, sensors, I/O, and power supply.The upper system is responsible for the function related to the application.ROS is used for the development base, and it is responsible for the whole body operation plan, SLAM, navigation, and the recognition of markers.

　Basically, the "SK01", which is basically for hardware verification, has only a visual servo and a computing machine required for control.Because there is a problem of battery and heat.It is said that obstacles and evasion functions are used in the construction site cleaning robot, which was reported in this magazine, for avoidance of obstacles.

To the architecture site, PFN and Kashima developed autonomous cleaning robots.Recognize the surrounding environment by deep learning

　Considering safety, it complies with ISO 13482.We also conduct design reviews by a third -party organization.Risk evaluation was made as reference values using the safety standard ISO TS 15066 of collaborative robots (robots that can share people with people).The risks and failure modes when falling are also being considered.It is said that it is reflected with opinions on the safety standard JIS B 8446-4 of the mobile manipulator currently being formulated.