Regelung eines mobilen Manipulators mit ROS2

This thesis presents the development of a control system for Omnirob, a mobile robotic platform equipped with a manipulator, designed at the Institute of Robotics at Johannes Kepler University Linz. The platform features omnidirectional movement capabilities enabled by Mecanum wheels, allowing highly flexible navigation in dynamic environ- ments. The implementation integrates key functionalities such as object detection, path planning, navigation, and mapping using the Robot Operating System 2 (ROS 2). For navigation and motion planning, the ROS 2 Navigation Stack (Nav2) and MoveIt were employed to enable autonomous movement and precise manipulator control. The robot’s control system was modeled and implemented in Simulink, providing a modular and flexible architecture. Furthermore, several demonstration scenarios were developed to showcase the capabilities of Omnirob and the advantages of ROS 2 in robotic applica- tions. This work lays the foundation for future enhancements and extensions, serving as a basis for further research and development projects at Johannes Kepler University.