Development of a teleoperated ROS based position and haptic control system for a twin serial robot arms
Lukin, Aleksandr (2018)
Diplomityö
2018
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe2018052524761
https://urn.fi/URN:NBN:fi-fe2018052524761
Tiivistelmä
This work was performed in course of development of software and hardware for Mobile assembly robot TIERA, which was designed and built in Laboratory of Intelligent Machines in Lappeenranta University of Technology.
Development of ROS-based control system is described in this paper. This work explains principles of remote control of UR10 robotic arms, including launching controller from operator’s workstation. Other parts of manipulator, including gripper and force and torque sensor are also described in this work. Important part of work is study of a haptic feedback. Functioning of distributed computational graph is also explained. Working software for both robotic arms was developed and reliable force feedback on the haptic device was achieved.
Development of ROS-based control system is described in this paper. This work explains principles of remote control of UR10 robotic arms, including launching controller from operator’s workstation. Other parts of manipulator, including gripper and force and torque sensor are also described in this work. Important part of work is study of a haptic feedback. Functioning of distributed computational graph is also explained. Working software for both robotic arms was developed and reliable force feedback on the haptic device was achieved.