<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>The research behind this paper arose out of a need to use an open-source system that enables hand guiding of the robot effector using a force sensor. The paper deals with some existing solutions, including the solution based on the open-source framework Robot Operating System (ROS), in which the built-in motion planner MoveIt is used. The proposed concept of a hand-guiding system utilizes the output of the force–torque sensor mounted at the robot effector to obtain the desired motion, which is thereafter used for planning consequential motion trajectories. Some advantages and disadvantages of the built-in planner are discussed, and then the custom motion planning solution is proposed to overcome the identified drawbacks. Our planning algorithm uses polynomial interpolation and is suitable for continuous replanning of the consequential motion trajectories, which is necessary because the output from the sensor changes due to the hand action during robot motion. The resulting system is verified using a virtual robot in the ROS environment, which acts on the real Optoforce force–torque sensor HEX-70-CE-2000N. Furthermore, the workspace and the motion of the robot are restricted to a greater extent to achieve more realistic simulation.</p>
</abstract>

The research behind this paper arose out of a need to use an open-source system that enables hand guiding of the robot effector using a force sensor. The paper deals with some existing solutions, including the solution based on the open-source framework Robot Operating System (ROS), in which the built-in motion planner MoveIt is used. The proposed concept of a hand-guiding system utilizes the output of the force–torque sensor mounted at the robot effector to obtain the desired motion, which is thereafter used for planning consequential motion trajectories. Some advantages and disadvantages of the built-in planner are discussed, and then the custom motion planning solution is proposed to overcome the identified drawbacks. Our planning algorithm uses polynomial interpolation and is suitable for continuous replanning of the consequential motion trajectories, which is necessary because the output from the sensor changes due to the hand action during robot motion. The resulting system is verified using a virtual robot in the ROS environment, which acts on the real Optoforce force–torque sensor HEX-70-CE-2000N. Furthermore, the workspace and the motion of the robot are restricted to a greater extent to achieve more realistic simulation.

Hand Guiding a Virtual Robot Using a Force Sensor

Slovak University of Technology (STU) in Bratislava

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Hand Guiding a Virtual Robot Using a Force Sensor"}

The research behind this paper arose out of a need to use an open-source system that enables hand guiding of the robot effector using a force sensor. The paper...

Hand Guiding a Virtual Robot Using a Force Sensor

Publié en ligne: 27 sept. 2021

Pages: 177 - 186

Reçu: 14 avr. 2021

Accepté: 20 juil. 2021

DOI: https://doi.org/10.2478/ama-2021-0023

Mots clés
hand guidance, force–torque sensor, motion planning, industrial robot, Robot Operating System

© 2021 Radovan Gregor et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Hand Guiding a Virtual Robot Using a Force Sensor

Publié en ligne: 27 sept. 2021

Pages: 177 - 186

Reçu: 14 avr. 2021

Accepté: 20 juil. 2021

DOI: https://doi.org/10.2478/ama-2021-0023

Mots cléshand guidance, force–torque sensor, motion planning, industrial robot, Robot Operating System

© 2021 Radovan Gregor et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Mots clés
hand guidance, force–torque sensor, motion planning, industrial robot, Robot Operating System