There is a paradigm shift in current manufacturing needs that is causing a change from the current mass-production-based approach to a mass customization approach where production volumes are smaller and more variable. Current processes are very adapted to the previous paradigm and lack the required flexibility to adapt to the new production needs. To solve this problem, an innovative industrial mobile manipulator is presented. The robot is equipped with a variety of sensors that allow it to perceive its surroundings and perform complex tasks in dynamic environments. Following the current needs of the industry, the robot is capable of autonomous navigation, safely avoiding obstacles. It is flexible enough to be able to perform a wide variety of tasks, being the change between tasks done easily thanks to skills-based programming and the ability to change tools autonomously. In addition, its security systems allow it to share the workspace with human operators. This prototype has been developed as part of THOMAS European project, and it has been tested and demonstrated in real-world manufacturing use cases.
Keywords: Industry 4.0; autonomous navigation; industrial mobile manipulator; perception; robotics; sensor fusion; skill-based programming.