Autori
Mirko Ferrati, Simone Nardi, Alessandro Settimi, Hamal Marino, Danilo Caporale and Lucia Pallottino
Abstract
Our aim is to propose a unified framework where a set of heterogeneous manipulators and mobile robots are managed autonomously in order to pick, move, grasp and manipulate different products. The proposed framework takes into account objects of arbitrary shape and manipulators of different grasping capabilities. A planner capable of managing a queue of multiple different objects along the assembly chain at the same time is proposed based on a time varying graph. The proposed approach is validated through a set of simulations with different numbers of end–effectors and objects.
