Abstract
In a near future, robotic systems are expected to be able to confront more complex tasks in challenging scenarios. In this context, intelligent perception and dual-arm robotic manipulation capabilities are crucial for improving the autonomy and reliability of these systems. This paper addresses the development of an experimental platform conceived to facilitate the design and assessment of new perception and dual-arm control algorithms in unstructured environments. The proposed testbed is composed of a dual-arm robotic configuration endowed with a visual perception system and a simulation and control platform implemented in ROS (Robot Operating System). The robotic configuration consists of two manipulator arms of 6-DOF (Kinova MICO™) with brushless DC actuators controlled directly through PID controllers, whereas the perception system is formed by a high resolution RGB camera and a Time-of-Flight camera. ROS provides an open source collection of software frameworks, which simplify the task of creating complex and robust robot behaviours across a wide variety of robotic systems. The proposed approach will enable the easy testing and debugging of new applications with zero-risk damage to the real equipment.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Makris, S., Tsarouchi, P., Surdilovic, D., Krüger, J.: Intuitive dual arm robot programming for assembly operations. CIRP Ann. 63(1), 13–16 (2014)
Zhao, Y., Gong, L., Liu, C., Huang, Y.: Dual-arm robot design and testing for harvesting tomato in greenhouse. IFAC-PapersOnLine 49(16), 161–165 (2016)
Korayem, M.H., Shafei, A.M., Seidi, E.: Symbolic derivation of governing equations for dual-arm mobile manipulators used in fruit-picking and the pruning of tall trees. Comput. Electron. Agric. 105, 95–102 (2014)
Wu, Q., Li, M., Qi, X., Hu, Y., Li, B., Zhang, J.: Coordinated control of a dual-arm robot for surgical instrument sorting tasks. Robot. Auton. Syst. 112, 1–12 (2019)
Attia, M., Hossny, M., Nahavandi, S., Dalvand, M., Asadi, H.: Towards trusted autonomous surgical robots. In: 2018 IEEE International Conference on Systems, Man, and Cybernetics, pp. 4083–4088 (2019)
Fleischer, H., Drews, R.R., Janson, J., Chinna Patlolla, B.R., Chu, X., Klos, M., Thurow, K.: Application of a dual-arm robot in complex sample preparation and measurement processes. J. Lab. Autom. 21(5), 671–681 (2016)
Bustos, P., García-Varea, I., Martínez-Gómez, J., Mateos, J., Rodríguez-Ruiz, L., Sánchez, A.: Loki, a mobile manipulator for social robotics. In: Workshop of Physical Agents, pp. 1–8 (2012)
Quigley, M., Berkey, B., Conley, K., Faust, J., Foote, T., Leibs, J., Berger, E., Wheeler, R., Ng, A.: ROS: an open-source robot operating system. In: Proceedings of the ICRA Workshop on Open Source Software, Kobe, Japan (2009)
MoveIt! Motion Planning Framework. https://moveit.ros.org/. Accessed 22 Apr 2019
Robotics company—Robotic assistive technology—Kinova. https://www.kinovarobotics.com/en. Accessed 22 Apr 2019
Campeau-Lecours, A., Lamontagne, H., Latour, S., Fauteux, P., Maheu, V., Boucher, F., L’Ecuyer, L.-J.C.: Kinova modular robot arms for service robotics applications. In: Rapid Automation. IGI Global (2019)
Fernández, R., Salinas, C., Montes, H., Sarria, J.: Multisensory system for fruit harvesting robots. Experimental testing in natural scenarios and with different kinds of crops. Sensors 14(12), 23885–23904 (2014)
MESA Imaging SR4000/SR4500 User Manual Contents. http://www.realtechsupport.org/UB/SR/range_finding/SR4000_SR4500_Manual.pdf. Accessed 22 Apr 2019
Prosilica GC2450—5.0 Megapixel Sony ICX625 CCD sensor - Allied Vision. https://www.alliedvision.com/en/products/cameras/detail/ProsilicaGC/2450.html. Accessed 22 Apr 2019
Image Processing Toolbox – MATLAB. https://en.mathworks.com/products/image.html. Accessed 22 Apr 2019
Robotics System Toolbox - MATLAB®; Simulink. https://en.mathworks.com/products/robotics.html. Accessed 22 Apr 2019
Martinez, A., Fernández, E.: Learning ROS for Robotics Programming. Packt Publishing, Birmingham (2013)
Salinas, C., Fernández, R., Montes, H., Armada, M.: A new approach for combining time-of-flight and RGB cameras based on depth-dependent planar projective transformations. Sensors 15(9), 24615–24643 (2015)
Taylor, Z.: http://www.zjtaylor.com/. Accessed 22 Apr 2019
Concepts | MoveIt!. https://moveit.ros.org/documentation/concepts/. Accessed 22 Apr 2019
Acknowledgments
The research leading to these results has received funding from:
(i) FEDER/Ministerio de Ciencia, Innovación y Universidades – Agencia Estatal de Investigación/Proyecto ROBOCROP (DPI2017-84253-C2-1-R)
(ii) RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, funded by “Programas de Actividades I + D en la Comunidad de Madrid” and cofunded by Structural Funds of the EU.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Sepúlveda, D., Fernández, R., Navas, E., González-de-Santos, P., Armada, M. (2020). ROS Framework for Perception and Dual-Arm Manipulation in Unstructured Environments. In: Silva, M., Luís Lima, J., Reis, L., Sanfeliu, A., Tardioli, D. (eds) Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019. Advances in Intelligent Systems and Computing, vol 1093. Springer, Cham. https://doi.org/10.1007/978-3-030-36150-1_12
Download citation
DOI: https://doi.org/10.1007/978-3-030-36150-1_12
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-36149-5
Online ISBN: 978-3-030-36150-1
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)