{"id":353,"date":"2021-03-11T22:11:12","date_gmt":"2021-03-12T03:11:12","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/?page_id=353"},"modified":"2021-12-11T14:06:46","modified_gmt":"2021-12-11T19:06:46","slug":"actuated-manipulation","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/system-implementation\/actuated-manipulation\/","title":{"rendered":"Actuated Manipulation"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">Description<\/h2>\n\n\n\n<p>See the <a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/system-design\/sub-system-description\/\" data-type=\"URL\" data-id=\"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/system-design\/sub-system-description\/\">subsystem description page<\/a> for overview:<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Fall 2021<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Integrated with whole system and tested overall performance.<\/li><li>Integrated Resolved Rate motion compensation and stabilization controller for 3D goal position stabilization.<\/li><li>Integrated Octomap dynamic obstacle avoidance with MoveIt motion planning pipeline.<\/li><li>Installed fourth motor on robot to expand task space capability.<\/li><li>Created and tested 4 degree-of-freedom and 5 degree-of-freedom robot arm models through simulation to acquire task space traversal accuracy and stabilization space accuracy. Created trade study to compare and select best robot arm option. Selected a 4 degree-of-freedom robot arm design based on improved performance with a reasonable increase in weight and power.<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Spring 2021<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Demonstrated functional integration with vision and voice subsystems during SVD encore. End effector was capable of holding aluminum panel out in front of user.<\/li><li>Demonstrated robot arm moving to goal positions set by the vision subsystem&#8217;s goal setter node. Further integration and validation testing to be performed. <\/li><li>Trivial impedance controller built for the robot arm to demonstrate control-based force control onto surfaces. Impedance control demonstrated for robot arm pushing forward along x-axis. Gravity compensation to be implemented on controller.<\/li><li>Demonstrated robot arm moving to goal positions in free space relative to the D435 camera frame (i.e. D400_link). Calibrated robot arm to be accurate to as-built URDF model. Validated robot arm motion planning accuracy to be within set requirements. <\/li><li>Pipeline between robot URDF and HEBI motors built. Demo script built to translate motion on the robot URDF model in RViz to HEBI motor outputs on the physical robot. <\/li><li>HEBI C++ API installed onto ROS Melodic framework. Motor connection script ran to communicate to HEBI motors on the TCP\/IP network.<\/li><li>Draft URDF model of robot implemented into ROS Melodic framework. Can be seen through RViz visualization application.<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Fall 2020<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Conceptual design made and presented. Subsystem drafted to incorporate RRT-Connect motion planning algorithm. Stabilization conceptualized to be achieved via IMU feedback from motors to compensation motion on end effector.<\/li><li>Schedule and technical roadmap draft built for subsystem. These include functional and cyberphysical architectures.<\/li><li>Preliminary requirements built for actuated manipulation subsystem. <\/li><li>As-Is CoBorg was examined. As-Is method of manipulation is through wireless controller with manual operation and preset commands.<\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><\/td><td class=\"has-text-align-right\" data-align=\"right\"><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/system-implementation\/vision\/\" data-type=\"URL\" data-id=\"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/system-implementation\/vision\/\">Vision &gt;<\/a><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Description See the subsystem description page for overview: Fall 2021 Integrated with whole system and tested overall performance. Integrated Resolved Rate motion compensation and stabilization controller for 3D goal position stabilization. Integrated Octomap dynamic obstacle avoidance with MoveIt motion planning pipeline. Installed fourth motor on robot to expand task space capability. Created and tested 4<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/system-implementation\/actuated-manipulation\/\">+ Read More<\/a><\/p>\n","protected":false},"author":241,"featured_media":0,"parent":22,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-353","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/pages\/353","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/users\/241"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/comments?post=353"}],"version-history":[{"count":8,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/pages\/353\/revisions"}],"predecessor-version":[{"id":915,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/pages\/353\/revisions\/915"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/pages\/22"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamc\/wp-json\/wp\/v2\/media?parent=353"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}