Mobile Picking-Robot having wide reach area for shelves

In this paper, we describe the development of a mobile picking-robot that can function as an “alternative worker” to compensate for a shortage of human workers at a logistics site. A requirement of a modern logistics site is that it have flexible systems that can handle numerous kinds of items. A country with a limited land area, such as Japan, particularly expects automated equipment to be compact and thus space-saving. Therefore, our work centered on developing robotic arm mechanisms that can be deployed in small spaces and on a mobile robotic system that can recognize, reach out and pick up items. This system has demonstrated in store test room for testing order picking by using proposal arms. Our solution can avoid singular configuration and can approach narrow workspace by combination with linear and rotational actuator.