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Programming and Simulation of Cooperative Robotic Manipulators

Lehrstuhl: Institute of Control Theory and Systems Engineering

Betreuer: Freia Irina John, Frank Hoffmann,

Beginn ab: 11.10.2018

Maximale Anzahl der Teilnehmer: 8

Beschreibung: CoRobots (Collaborative Robots) work hand in hand with humans in a shared work space. In industrial manufacturing fences protect persons against mechanical impact and injury caused by the robot. In contrast a CoRobot is able to detect contact situations with the worker or objects in the environment. CoRobots are easy to deploy to novel applications and do not require a sophisticated production layout.
The chair RST has two Universal Robot arms UR10 and UR3. The UR robots are easily programmed by a non-expert operator by simply moving the arm to desired waypoints or move the arm with touch keys on a touch screen. The programming environment PolyScope enables programming of simple manipulation tasks in less than an hour.

The project group is concerned with the development of a Robot Operating System (ROS) framework for UR robot programming by TeachIn, that mimics the basic functionalities of the vendor specific PolyScope environment. The specific tasks include:
- compliant arm motion for TeachIn with force torque sensor and external torques estimated from motor currents.
- design of a GUI to program robot applications in joint space and work space.
- integration of TeachIn with the ROS MoveIt library.
- vision based pose estimation of objects with eye in hand camera on the UR end effector for flexible part handling and visual servoing.

The second part of the project group will deal with the lightweight link-elastic robot arm TUDORA (TU Dortmund Omni-elastic Robot Adapted).
Research on link-elasticities offers the perspective to devise lightweight robots with intrinsic safety benefits for physical human-robot interaction and fast motions with reduced energy consumption. Moreover, their force/torque sensing capabilities mimic the functionalities of animalistic whiskers, putting the robot in a position to react gently to its environment. While many works consider single elastic links or planar settings, the robot arm under consideration comes along with multiple vibration planes. This leads to further challenges to exploit the advantages of the elastic elements.

The project group is concerned with the development/expansion of TUDORA’s simulation using Matlab/Simscape Multibody and ROS/Gazebo. The specific tasks include:
- development/expansion of TUDORA’s simulation by simple elastic elements using Matlab/Simscape Multibody, simulation of point-to-point movements and enabling arbitrary load addition.
- development/expansion of TUDORA’s equivalent rigid body simulation using ROS/Gazebo, simulation of point-to-point movements and enabling arbitrary load addition.
- development/expansion of a simple example of an underactuated robot arm simulation (one actuated joint plus one non-actuated joint, both in horizontal plane) using ROS/Gazebo, simulation of point-to-point movements and enabling arbitrary load addition.
- analysis and comparison of a data-based and an analytic kinematics approach with regard to a specified data set, as well as simulation of point-to-point movements in task space using one of the formerly mentioned simulation environments.

Students are expected to have successfully completed the course modelling and control of robotic manipulators by the start of the project group. Programming experience in Matlab, ROS, Python or C++ is helpful.