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Dual-arm framework for cooperative applications

Author
Rodriguez, C.; Rojas de Silva, F.; Suarez, R.
Type of activity
Presentation of work at congresses
Name of edition
21st IEEE International Conference on Emerging Technologies & Factory Automation
Date of publication
2016
Presentation's date
2016-09
Book of congress proceedings
21th IEEE Conference on Emerging Technologies and Factory Automation (ETFA): September 6-9, 2016, Berlin
First page
1
Last page
6
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/ETFA.2016.7733704 Open in new window
Repository
http://hdl.handle.net/2117/99576 Open in new window
URL
http://ieeexplore.ieee.org.recursos.biblioteca.upc.edu/document/7733704/ Open in new window
Abstract
This paper presents a framework schema that allows to bring simulation results obtained from different dual-arm robotic applications to executions in real environments. The framework uses the Robot Operating System (ROS) to communicate each component of the dual-arm, and the robotic software tool The Kautham Project for the computation of motion paths, inverse kinematics validations, collision checking and the graphical visualization of the simulated environment. The Anthropomorphic Dual Arm Rob...
Citation
Rodriguez, C., Rojas de Silva, F., Suarez, R. Dual-arm framework for cooperative applications. A: IEEE International Conference on Emerging Technologies and Factory Automation. "21th IEEE Conference on Emerging Technologies and Factory Automation (ETFA): September 6-9, 2016, Berlin". Berlin: Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 1-6.
Keywords
ADARS, anthropomorphic dual arm robotic system, manipulators, operating systems (computers), robot operating system, robotic software tool
Group of research
SIR - Service and Industrial Robotics

Participants

  • Rodriguez Pacheco, Carlos  (author and speaker )
  • Rojas de Silva Gonzalez, Francisco Abiud  (author and speaker )
  • Suarez Feijoo, Raul  (author and speaker )