This repo implements the safe robot handover.
Hardwares: FANUC LR-mate 200id 7L robot, Speedgoat.
Question contact:
- Follow the instructions in
./Calibration/
to calibrate the camera. - Build the controller.
cd Real-time-Jerk-bounded-Position-Controller/
.make all
.cd ..
.
- Adjust the parameters in
demo.m
.
ROBOT
: Currently usingLRMate200iD7L
.MODE
:HumanINTR
: Virtual interaction. The user drags the mouse to move a virtual human in the environment. The virtual human only has motion in the xy plane.CamerINTR
: Real interaction. The camera captures the real human motion.
USE_ROBOT
:- 0: use robot simulation.
- 1: use the real robot.
enbSSA
:- 0: Turn off the safe control.
- 1: Turn on the safe control.
USE_GRIPPER
:- 0: No gripper needed.
- 1: Gripper is on.
USE_FTS
:- 0: No force-torque sensor needed.
- 1: Force-torque sensor is connected.
Note: The gripper and the FTS will be used only when USE_GRIPPER
and USE_FTS
are both turned on.
The handover pipeline is tested on FANUC LR-mate 200id 7L robot with the Speedgoat basline.
- Turn on the Speedgoat by pressing the power button.
- Turn on the FANUC robot by turning the switch 90 degree clockwise.
- On the teaching pendant, press
Shift
+Reset
. - On the teaching pendant, press
FCTN
->Abort All
. - On the teaching pendant, select the Stream Motion program.
- On the robot controll box, press the green button.
- Run
demo.m
.
This project is in part supported by Siemens.