Forschungsthemen
[Komplexpraktikum] A virtual robotic workbench
The development of industrial robots has greatly advanced over the last years, with the focus on human-robot collaboration, mobility and, especially, the effectiveness of automation. Haptic interfaces modulate human physical interactions, to give them the illusion that they are directly touching things that are at a different location and to control physical or virtual devices remotely. Such interfaces are haptic gloves and VR devices, allowing to a track motions, position and accelerations. Based on this interfaces and the Robot Operating System, a virtual workbench will be developed in this course, which makes it possible to process and combine workpieces by remote control of robots. A total of four modules are to be developed for this purpose:
- A workpiece selection module allowing users to select a workpiece which is located on a specific location on a workbench. This also includes an initial calibration of the sensors.
- An operation module which allows selecting an operation to be applied to a selected workpiece. Operations are select by a specific gesture. These are simple primitive operations, which are already partially pre-implemented by the CeTI Cobotic Framework. The operations include picking, placing, dropping, rotating and combining workpieces.
- An operation execution module which is responsible for executing the operations mapped to the specific gestures, which are pre-configured by the user. This module controlles one or more robotic arms, which are handling the workpieces.
- A virtual reality module which display the positions of the objects and the robotic arms to the remote user. The base-technology to be used are the Vive virtual reality glasses.
Betreuer: Sebastian Ebert; Johannes Mey