Physical interaction classification

 


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Remote Control of UR10e via MoveIt (ROS)

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Installation First, install the External Control URCap on the UR10e Teach Pendant. See this post , to further instructions. Then, you will need to install a few packages on your Ubuntu system: sudo apt install ros-noetic-moveit sudo apt-get install ros-noetic-industrial-robot-status-interface sudo apt-get install ros-noetic-scaled-controllers sudo apt-get install ros-noetic-pass-through-controllers sudo apt-get install ros-noetic-ur-client-library sudo apt-get install ros-noetic-velocity-controllers sudo apt-get install ros-noetic-force-torque-sensor-controller ( Note: At this moment, if you do not have a catkin workspace, you should now create one, by following the steps described here ) cd catkin_ws/src git clone https://github.com/afonsocastro/larcc_interface.git git clone https://github.com/ros-industrial/ur_msgs.git cd ~/catkin_ws catkin_make  Finally, to establish the communication between the robot and the computer, it is required to connect an Ethernet cable from the UR1...
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UR10e control architecture

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Now that I am able to control the arm of the robot as well as the gripper, it is now time to create an interface that can be used to control both the arm and the gripper.  This interface should be completely agnostic to any use case that is being developed. Since gripper control and arm control are two independent procedures that can be running simultaneously, this interface should put these two controllers at the same level. Following this philosophy, any job that I want to develop in the future will be able to call any one of these controllers by the same method! Here we can see the structure of the first complete job.  In this case, an object that is continuously being tracked through a RGB-D camera is followed by the robot arm and then is picked up and stored in a box.  As we can see, both controllers (arm and gripper) are at the same level, and the job1 ROS node is communicating with both of them simultaneously. The gripper controller is described in this previous p...
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Real-time UR10e following a tracked object

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For a first trial, it was developed this demonstration of a real-time followed object that is being tracked using one RGB-D camera (Intel RealSense D435).   As seen in this previous post , ViSP is used to process the images acquired by the RealSense RGB-D camera and to continuously track the object . A TCP/IP Socket Connection is established (inside the same computer) between ViSP and ROS . This socket communication is responsible for bringing the geometric transformation between the camera and the object to the ROS environment. This previous post describes with more detailed information this connection. Besides the transformation between the camera and the object, it is also required to know the transformation between the robot and the camera . For the robot to understand the position and orientation of the object in reference to the robot himself, this transformation becomes crucial. For getting it, I performed a manual calibration , as described in this previous post . Fina...
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