Software framework to enable agile robotic assembly applications.

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HardwareConnTact
Overview

ConnTact

Software framework to enable agile robotic assembly applications.

(Connect + Tactile)

Overview

Framework diagram

Installation

Development of framework was done under Ubuntu Focal (20.04) using ROS Noetic.

  • Clone the repository into the src/ directory of a ROS workspace (e.g., ~/ros_ws/src)
  • Install Python dependencies pip install transitions modern_robotics
  • Install ROS source dependencies:
    • cd ~/ros_ws/src
    • vcs import < conntact/dependencies.rosinstall
  • Install ROS package dependencies: rosdep install --rosdistro noetic --ignore-src --from-paths .
  • Source ROS and build the workspace: . /opt/ros/noetic/setup.bash, catkin build

Examples

The repository is currently set up with examples that demonstrate assembly tasks for the NIST assembly task board using a Universal Robots UR10e. Currently two algorithms are implemented that perform peg insertion tasks using a vertical searching method and a corner-contact searching method to find the holes.

To run these examples, open a terminals sourced to the built project workspace and run:

roslaunch conntact ur10e_upload_compliance.launch algorithm_selected:=
   

   

Where is either spiral_search_node or corner_search_node.

Usage

Detailed documentation coming soon...

Setting up a workcell

Configuring a new application

Acknowledgements

This project is primarily supported by the National Institute of Standards and Technology through the Agile Performance of Robotic Systems program under grant award number 70NANB21H018

Owner
Southwest Research Institute Robotics
Open Source Robotics Programs
Southwest Research Institute Robotics
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