An open source tele-operation application for arbitrary N-DOF manipulators

Macenski, Steven J.

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https://hdl.handle.net/2142/103440 Copy

Description

Title

An open source tele-operation application for arbitrary N-DOF manipulators

Author(s)

Macenski, Steven J.

Issue Date

2017

Keyword(s)

• Engineering
• Aerospace Engineering
• Command Center, degree of freedom
• DOF manipulator
• MoveIt!

Language

en

Abstract

Human operation and tele-operation of manipulators is required in a number of operation, validation, and experimental scenarios. An application, termed the Command Center, for commanding and receiving feedback from an arbitrary manipulator is presented to improve human-robot interaction. The Command Center dynamically updates available operations, feedback, command handling, and disabling automatically for any degree of freedom (DOF) manipulator utilizing MoveIt! for it’s path planning in the robotic operating system (ROS). The application is capable of joint and Cartesian space moves with variable speed control and MoveIt!’s builtin perception handling and obstacle avoidance. Features for gripper actuation are supported through the Command Center. No additional setup is required to operate under the existing ROS-Moveit! standard architecture. The application facilitates lowering the barrier to entry for robot interaction and provides ROS users with tightly integrated support for its current state of the art for a robot arm. Considerations for uses and comparisons of applications are explored.

Type of Resource

text

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http://hdl.handle.net/2142/103440

Copyright and License Information

Copyright 2017 Steven J. Macenski

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