Teleoperation
Software integration of teleoperative device with a robotic arm ad soft gripper to provide expert demonstrations
This was a fun summer project in 2018 alongside my intership where the objective was to collect expert demonstrations for assembly tasks via a Denso robotic arm and soft gripper. My role in the project was to develop the engineering pipeline to collect such data. We used a 7-DOF Force Dimension Haptic Device for remote teleoperation of a Denso robotic arm. The necessary end effector torques on the robotic arm are converted to the reactive forces on the haptic device. Furthermore, there is a forward and inverse kinematics tool transcribed to do this conversion in real-time.
The programming of the robot was done on Matlab Simulink using simple Inverse Kinematics and Dynamics.
The video for teleoperation can be found here