Hand guiding a virtual robot using a force sensor

• Autorzy: Gregor Radovan , Babinec Andrej , Duchoň František , Dobiš Michal

Identyfikatory

DOI

10.2478/ama-2021-0023

• Języki publikacji: EN

Abstrakty

EN

The research behind this paper arose out of a need to use an open-source system that enables hand guiding of the robot effector using a force sensor. The paper deals with some existing solutions, including the solution based on the open-source framework Robot Operating System (ROS), in which the built-in motion planner MoveIt is used. The proposed concept of a hand-guiding system utilizes the output of the force–torque sensor mounted at the robot effector to obtain the desired motion, which is thereafter used for planning consequential motion trajectories. Some advantages and disadvantages of the built-in planner are discussed, and then the custom motion planning solution is proposed to overcome the identified drawbacks. Our planning algorithm uses polynomial interpolation and is suitable for continuous replanning of the consequential motion trajectories, which is necessary because the output from the sensor changes due to the hand action during robot motion. The resulting system is verified using a virtual robot in the ROS environment, which acts on the real Optoforce force–torque sensor HEX-70-CE-2000N. Furthermore, the workspace and the motion of the robot are restricted to a greater extent to achieve more realistic simulation.

Słowa kluczowe

EN

hand guidance; force torque sensor; motion planning; industrial robot; Robot Operating System

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2021
• Tom: Vol. 15, no. 3
• Strony: 177--186
• Opis fizyczny: Bibliogr. 24 poz., rys., tab., wykr.

Twórcy

autor

Gregor Radovan

• Faculty of Electrical Engineering and Information Technology, Institute of Robotics and Cybernetics, Slovak University of Technology (STU) in Bratislava, Ilkovičova 3, SK-812 19, Bratislava, Slovakia

• https://orcid.org/0000-0002-9498-6768

autor

Babinec Andrej

• Faculty of Electrical Engineering and Information Technology, Institute of Robotics and Cybernetics, Slovak University of Technology (STU) in Bratislava, Ilkovičova 3, SK-812 19, Bratislava, Slovakia

• https://orcid.org/0000-0001-5550-2583

autor

Duchoň František

• Faculty of Electrical Engineering and Information Technology, Institute of Robotics and Cybernetics, Slovak University of Technology (STU) in Bratislava, Ilkovičova 3, SK-812 19, Bratislava, Slovakia

• https://orcid.org/0000-0003-4140-9737

autor

Dobiš Michal

• Faculty of Electrical Engineering and Information Technology, Institute of Robotics and Cybernetics, Slovak University of Technology (STU) in Bratislava, Ilkovičova 3, SK-812 19, Bratislava, Slovakia

• https://orcid.org/0000-0002-2453-212X

Bibliografia

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Uwagi

Błędna numeracja bibliografii.