The Robonator: Robotic Teleoperation

Sammanfattning

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.