As manufacturers are automating their production lines the use of robots isincreasing, but this does not exclude the need from humans with their nifty hands.Robots are using a certain tool for a certain job while humans have their hands forall situations. Schunk has developed a hand for these robot arms but it has yet tobe tested and implemented in a real world situation. By using a robot arm acompany can minimize the risk of damage to humans.In this work we are exploring the options of teleoperation using ros and moveitby performing a pick-and-place scenario. This task is done by a UR10 equippedwith a Schunk SIH.The results were that a ROS node could control the robot hand by sendingcommands inline or through a publishing node. This node is compatible with thewhole system and may be operated alongside a UR10 robotic arm. Moveit'smotion planning tool using inverse kinematics can drive the UR10 robot. Therobot arm was able to accomplish a pick-and-place job by placing a water bottleon top of a box.This investigation analyzes this effort from a variety of angles, one of which isan ethical one that emphasizes the need of making these advances for the sake ofhuman health.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:oru-99916 |
| Date | January 2022 |
| Creators | Steneryd, Adrian, Khorshid, Yad |
| Publisher | Örebro universitet, Institutionen för naturvetenskap och teknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
Page generated in 0.0016 seconds