Development of robot manipulation technology in ROS environment

Abstract

A new manipulation strategy has been proposed to grasp various objects stably using a dual-arm robotic system in the ROS environment. The grasping pose of the dual-arm has been determined depending upon the shape of the objects which is identified by the pan/tilt camera. For the stable grasping of the object, an operability index of the dual-arm robot (OPIND) has been defined by using the current values applied to the motors for the given grasping pose. When analyzing the motion of a manipulator, the manipulability index of both arms has been derived from the Jacobian to represent the relationship between the joint velocity vector and the workspace velocity vector, which has an elliptical range representing easiness to work with. Through the experiments, the OPIND applied state and the non — applied state of the dual-arm robotic system have been compared to each to other.