Integration of Mobile Robot and Manipulator Using the ROS

In this study, a mobile robot and a manipulator were integrated and implemented using ROS (Robot Operating System). Using computer vision, the robot was intended for delivering objects such as beverages and cans to customers in service environments such as cafes and restaurants, and it will contribute to improvement in work efficiency and service automation. To reduce production costs and weight, we adopted the 4-axis manipulator with gears and motors inside the link so that the manipulator occupied a minimum space within the operating range. To achieve free movement in a narrow workspace, direct drive mechanism with low-cost geared motors was adopted for the mobile platform.