Manipulation

In total, the manipulator has six degrees of freedom. It is able to reach for objects around the rover. A stereoscopic camera on the manipulator allows a 360 degrees observation without having to rotate the rover itself. A special grasping mechanism has to be developed to grab the speciļ¬ed objects. An additional challenge is the transportation of the glass of water. Control algorithms are also provided by the ROS manipulation planning stack. It relies on a generic gradient-
based numeric algorithm for inverse kinematics. Trajectory planning for collision avoidance works by taking the point cloud into account, which is provided by one of the Kinect sensors.

SEAR's manipulator (Source: TU Berlin)

SEAR’s manipulator (Source: TU Berlin)


Simulation of manipulator trajectories utilizing the point cloud for collision avoidance (Source: TU Berlin)

Simulation of manipulator trajectories utilizing the point cloud for collision avoidance (Source: TU Berlin)