Mobile Manipulation Platform Husky¶
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This package supplies Sphinx-based tutorial content to assist you with setting up and using MBS Husky-xARM6-Robotiq robot. The tutorials topics are listed in the left column, and are presented in the suggested reading order.
Attention
These tutorials assume that you are comfortable working with ROS. We recommend starting with ros2 tutorials. if you are not familiar with ROS already.
Clearpath Husky¶
Welcome to the Clearpath Husky Mobile Manipulation Platform hub, your gateway to exploring a range of innovative projects and configurations built on the robust
and versatile Clearpath Husky platform. The Clearpath Husky serves as a reliable foundation for diverse research and development endeavors, offering rugged
all-terrain mobility, precise control, and customizable capabilities. The Husky is shipped in a medium wooden crate, ensuring safe transportation.
At MyBotShop GmbH, we go the extra mile by providing the Husky with pre-installed and configured base software packages, including motor drivers and IMU sensors,
in the Husky’s ros2_ws.
From autonomous navigation and environmental sensing to manipulation and interaction, the Husky platform empowers researchers and developers to tackle a wide array of challenges in robotics. Explore the projects below to discover how the Husky is being utilized in various domains, from academic research and industrial automation to field applications and beyond.
Robot Upgrade¶
Manipulators¶
In terms of manipulators that can be installed and integrated with your mobile platform, several recommended arms are available. Each has its own perks and limitations. The table below illustrates some of the key features of the recommended arms that can be installed with the mobile platform.
Comparative Analysis¶
Model |
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Company |
UFACTORY |
FRANKA EMIKA |
UNIVERSAL ROBOTS |
Operation |
Host PC |
Host PC |
Host PC |
Teach Pendant |
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Software Development |
Plug & play |
Config. Req. |
Config. Req. |
I/O Ports |
Multi |
None |
Multi |
Sensor Integration |
Available |
None |
Available |
ROS Control |
Immediate |
Config. Req. |
Config. Req. |
Pricing |
Low |
High |
High |
Mobile Platforms¶
For mobile platform, several recommended mobile platforms are available. A new and interesting mobile platform that can be combined with your robot arm is the ROVO2. The table below illustrates some of the key features of the recommended mobile platforms that can be utilized.
Comparative Analysis¶
Model |
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Robot Weight |
290 kg |
135 kg |
50 kg |
280 kg |
Payload |
500 kg |
100 kg |
75 kg |
272 kg |
Operation time |
8 hrs |
8 hrs |
8 hrs |
2.5 hrs |
Top Speed |
20 kmhr |
3.96 kmhr |
3.6 kmhr |
18 kmhr |
Terrain Adaptability |
Extreme |
None |
Good |
Very good |
Pricing |
Medium |
Medium |
Low |
High |
