Hardware-agnostic compliant control ROS package for collaborative industrial manipulators
Date
2018
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Tartu Ülikool
Abstract
Industrial robotics today is moving towards using lightweight collaborative robots to make it possible for small and medium sized enterprises to integrate robots in their manufacturing environment. However, there is still very few collaborative robots seen in the industry and the main reason is that programming of the robot is still too expensive and time-consuming, since there are too few ready solutions available today for controlling co-robots. The solution would be more available open source, maintainable, extendable and usable high-quality code for controlling co-robots. This thesis concentrates on developing such complete software bundle on ROS for compliant control for industrial collaborative manipulators.
Description
Keywords
koostöövõimelised tööstusrobotid, robotitarkvara raamistik ROS, mööndlik roboti juhtimine, collaborative industrial robots, Robot Operating System, compliant control