Motion coordination of a mobile anthropomorphic dual-arm robot for manipulation actions using visual-guidance
Dual-arm robotic manipulation using visual guidance poses many challenges in order to actu- ally perform manipulation tasks with enough efficiency. The motion coordination and synch- ronization of arms or working in real-world environments that presents uncertainties, are some of the challenges that...
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2024 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/419384 |
| Acceso en línea: | https://hdl.handle.net/2117/419384 |
| Access Level: | acceso abierto |
| Palabra clave: | Manipulators (Mechanism) Robots--Control systems Manipuladors (Mecanismes) Robots--Sistemes de control Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | Dual-arm robotic manipulation using visual guidance poses many challenges in order to actu- ally perform manipulation tasks with enough efficiency. The motion coordination and synch- ronization of arms or working in real-world environments that presents uncertainties, are some of the challenges that this thesis will focuses to solve. To cope with these challenges, this final master thesis describes the implementation of a sys- tem for motion coordination and synchronization of a mobile anthropomorphic dual-arm robot (MADAR) that focuses on the capability for performing manipulation actions with precision by means of a visual guidance provided by a camera mounted on an articulated head. The proposal uses the second version of Robot Operating System (ROS 2), where two different control modes are implemented, using C++, to develop a solution. Implementation has been developed for MADAR and uses the UR5 model from Universal Robots as arms, but it has been developed generically to be used with any robot that uses ros_control standards. Evaluated with real experiments, that consist on executing a given trajectory to the goal detected by the perception system and perform dynamic movements based on the task. The implemen- ted proposal brings the necessary capabilities to the robot to achieve the objectives. Finally, a discussion of the main future research lines is explained to improve the implementation. |
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