Design and Research of The Multifunctional Mobile Manipulator Based on ROS

The mobile manipulator is a composite robot which has the characteristics of the mobile base and the manipulator, achieves the functions of each separate platform and completes more complex tasks. This paper proposes a multifunctional configuration of a mobile manipulator which could achieve multiple functions, including navigation and positioning, manipulator control, object pose estimation, indoor planar environment detection and object grasping. It could be widely used in the field of logistics sorting and complex assembly tasks.