- You are here:
- Startseite
- About
- Map of International Research Activities (MIRA)
- Detail
Back
Back
Author |
|
| Name |
Forgó, Zoltán
zforgo@ms.sapientia.ro |
| Research field | Robotics |
| Career stage | professor |
| Home university/institution | Sapientia University |
| Department/Research unit at home university/institution | Mechanical Engineering Department |
| Chair/Working group at home institution | Mechanical Engineering Department |
International activity |
|
| Country | Germany |
| Location | Bochum |
| University | Ruhr-Universität Bochum (RUB) |
| Fund Research School | VIP |
| Type of activity | invitation of guest scientist |
| Period |
starts 01-02-2017 ends 01-02-2020 |
| Keywords | robotics, ROS, Human-Robot Interaction |
| Report |
Research Visits at RUB November 2018 and February 2019 Based on the previous ROS concept, to be able to control a robotic arm in a virtual environment by the use of human gestures, the system was further developed in cooperation with Mr. Miguel Portela , B. Eng. (Chair for Production System, RUB) in order to assure the control of the ABB YuMi robot. Several steps were done in order to manage the proposed work. Until this point the fulfilled task was using one-hand gestures, because one robot was controlled in the ABB RobotStudio virtual environment. The YuMi robot is a two handed cooperative robot, so the information from both hands are needed for control purpose. Using the official Leap SDK for Linux, ROS nodes were developed to capture the desired hand positions and the ROS launch files were prepared in order to set up the ROS nodes for YuMi 3D model control using RViz visualization tool. As result: the two handed control of the two armed YuMi robot was possible. The second task to fulfill the main goal was to push the trajectory information from the ROS environment to the ABB RobotStudio software, in order to be able to move the YuMi robot in the native simulation environment. This could not be done without the alteration of the ABB ROS Package. The package was developed to link the trajectory information to the 6 axis of the ABB robots, but one arm of the YuMi robot is build up by 7 axis and the corresponding links. After the successful modification of the robot controller-side code, the whole system could be linked. For the LeapMotion sensor ROS nodes were launched for left and right hand recognition, with which, through inverse kinematics and taking intoaccount the users hand position, the robot joint values (for left and right robot arms) were calculated. This information was published and afterward read by separate ROS nodes, each of them realizing separate TCP/IP protocol, socket type connections for the left and right arm Tasks in the virtual controller. June 2019 During this visit of the grantee in June at the Chair for Production System, the cooperation was focused on the control possibilities of the real ABB YuMi robot found at the LPS Lern- und Forschungsfabrik, using the already presented method. To achieve this, the configuration and the motion Tasks of the virtual controller were transferred to the real controller. After the successful connection between the real controller and the ROS environment, the motion of the users hands were transferred to the real robot as was done for the virtual controller. From this point on, further steps of the cooperation can be prepared in order to develop a system based on the presented methodology. The goal is to realize a human-robot cooperation platform for robot motion teaching: using gestures, the user can control the YuMi robot arms in order to fulfill some task (ex. machine tending, pick-and-place, assembling) and to save it as robot program for later repetitive use. The visit included a presentation session of M.Sc. Kai Lemmerz and M.Sc. Paul Glogowski (Chair for Production System, RUB) also. The idea of human-robot collaboration in assembly follows the aim of wisely combining the special capabilities of human workers and of robots in order to increase productivity in flexible assembly processes and to reduce the physical strain on human workers. The high degree of cooperation goes along with the fact that the effort to introduce an HRC workstation is fairly high and HRC has hardly been implemented in current productions so far. A major reason for this is a lack of planning and simulation software for the HRC – and relevant topics in this area are the key issues of the PhD theses of M.Sc. Kai Lemmerz and M.Sc. Paul Glogowski. The PhD students are made significant steps based on the Robot Operating System (ROS) framework in order to enable a realistic simulation of the direct cooperation between human workers and robots. The presentation and the afterward discussions gave the grantee the possibility to advise the authors for furthers steps in their research and several topics were identified were common work could be done. September 2019 The visit in September 2019 was axed on two directions of the cooperation between the grantee and the host Chair for Production System. As the main activity during the two weeks period, Prof. Forgó Zoltán was leading the “Grundlagen der Roboterprogrammierung” (“Basics of robot programming”) lecture and practical work, held for Applied Informatics BSc students. The four-day module was held twice for six, respectively eight students, involving 3 hours of theory and three and a half day practical work. During this latter activity the grantee was assisted by Mr. Miguel Portela , B. Eng. and Mr. Lars Niklas Penczek, M. Sc. (Chair for Production System, RUB), and the students were learning about the activities in the LPS Lern- und Forschungsfabrik, and were introduced to the use of ABB YuMi and Franka Emika cooperation robots, found at the same location. Afterwards, the students were split in 3-4 person groups and asked to realize projects involving the familiarized robots. For the module evaluation presentations were made by the groups to demonstrate the acquired knowledge and to present the outcome of their project. Beside the teaching activity, a paper named “Dual arm robot control by hand gestures using ROS” was prepared and submitted to the ACM/IEEE International Conference on Human-Robot Interaction conference, which will be held on 23-26 March 2020 in Cambridge, UK. The paper contains the presentation of the results for the above presented joint research theme: the control of the two-arm ABB YuMi cooperative robot with hand gestures, realized by Prof. Forgó Zoltán (Sapientia Univerity), Mr. Miguel Portela, Dr.Eng. Alfred Hypki , Prof. Bernd Kuhlenkötter (Ruhr-Universität Bochum). Further cooperation was initiated also. The Department for Mechanical Engineering, Sapientia University, the home institute of the grantee, is preparing a project for the “Digitising and transforming European industry and services (DT)” European Commission focus area and call “Digital innovation hubs and platforms”, in order to establish a Digital Innovation Hub (DIH) at the Sapientia University, Romania. The DIH should be a one-stop-shop that help companies to become more competitive with regard to their business/production processes, products or services using digital technologies. In order to be more advanced with the offered technologies by the future DIH, the possibility of joining the project was offered to the Chair for Production System, RUB, as well to the Department of Mechanical Engineering from the Technical University of Denmark. |