Approach to grasp with Romeo robot using RTM
Visualitza/Obre
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/100621
Tutor / directorVincze, Markus
Realitzat a/ambTechnische Universität Wien
Tipus de documentProjecte Final de Màster Oficial
Data2015
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
:
Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
Romeo as humanoid robot, which has for main goal help people who has some kind of
disability, needs to be capable to grasp objects. Considering that it has led to do this first
approach to grasp with Romeo. Moreover, it is wanted to grasp object which has been
recognised by the RTM software (Recognition, Tracking and Modelling Objects) with a
Romeo camera or an external one. This approach is included in the ROS framework as an
independent package named romeo_grasper whose code is free to be shared or improved.
The general idea of the approach starts with the RTM software getting the position,
on camera reference, of the object, which has to be previously modelled or at least in
the database. Then, this pose is transformed on robot reference and sent to MoveIt, that
combined with the Rviz simulator and some ROS packages for Romeo, moves the arm of
the robot to an optimal position for the grasp. Currently, it is used the IK solver from
the KDL library, but here it is also explained how has been tried to implement the IKFast
solver on Romeo, but without success.
Finally, it is achieved to make work together all the systems, but the grasp has a
some imprecision, producing that sometime it cannot be accomplish. However, in the
experiments, it has been discerned where this inaccuracy comes from and it has been
proposed some ways to reduce it. Furthermore, some guidelines has been set to lead
Romeo to achieve a grasp using machine learning and allowing it to accomplish its goal,
help the ones who need it
MatèriesAutonomous robots, Androids--Design and construction, Robots autònoms, Androides -- Disseny i construcció
TitulacióMÀSTER UNIVERSITARI EN ENGINYERIA INDUSTRIAL (Pla 2014)
Col·leccions
Fitxers | Descripció | Mida | Format | Visualitza |
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TFM_Lluis_Salord_Quetglas.pdf | Report | 17,84Mb | Visualitza/Obre |