Development of a ROS driver for the HIM and validation in a framework for HRC assembly скачать в хорошем качестве

Development of a ROS driver for the HIM and validation in a framework for HRC assembly

Brandon Lemmens, Brecht Van de Heijning Martijn Cramer, Eric Demeester - Development of a ROS driver for the Human Interface Mate and validation in a framework for human-robot collaborative assembly The research group ACRO of KU Leuven focuses on automation, computer vision and robotics. As part of ongoing research on intention-based human-robot collaboration in assembly, they intend to make use of the Human Interface Mate (HIM) developed by Arkite to recognize and register operator actions. The HIM is currently only configurable and readable through its software application. The goal of this master's thesis is to develop a ROS driver for the HIM, to validate it in a framework for human-robot collaboration, and to develop a relevant demonstrator based on this. The development of the ROS driver for the HIM consists of two parts: exchanging information with the HIM, and communicating this information to ROS. The exchange of information takes place via the web API of the HIM based on the Hypertext Transfer Protocol (HTTP). The framework uses the ROS driver to read the assembly operations, after which the robot action planner uses this information to control the UR robot and Robotiq gripper. Using this framework, a demonstrator has been developed in which a human operator, without previous knowledge, can assemble a six-piece product in an assembly sequence of choice together with a robot. In doing so, the robot continuously adapts itself to the choices of its human partner. This experimental validation shows that the framework, together with the ROS driver, forms a good basis for a robust human-robot collaboration. ACRO: https://iiw.kuleuven.be/onderzoek/acro/ Arkite: https://arkite.com/