MARWIN: a mobile autonomous robot for maintenance and inspection in a 4d environment

MARWIN is a mobile autonomous robot platform designed for performing maintenance and inspection task in a 4D environment at the European XFEL accelerator in Hamburg, Germany. MARWIN consists of a 4-wheel driven chassis and a manipulator arm providing 3 degrees of freedom. It can be operated in a pre-configured autonomous as well as a remotely controlled mode. The primary use case of MARWIN is measuring radiation fields. For this purpose, MARWIN is equipped with a mobile Geiger-Mueller tube mounted at the tip of the manipulator arm and a stationary multi-purpose radiation detector. We describe the mechanical and electrical setup, the architecture and implementation of the controls routines, the strategy implemented to handle radiation-triggered malfunctions, the energy management, and some first experimental results.