DEXTEROUS OBJECT MANIPULATION VIA INTERGRATED HAND ARM SYSTEM
|Gaurav .R. Thakur1, Ankita .A. Chauhan1, Rajat .M. Agrawal2
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Dexterous robot arms are capable of manoeuvring in highly-confined spaces due to their high flexibility. With the potential in many applications, the optimum design of these robots in terms of configurations and control has attracted much interest and research. This paper deals with a cooperative robotics support of dexterous robot arms, which is supposed to be utilized for space exposed experiments on the Multi Access Test and Observation Facility (MATOF). The MATOF is proposed to provide a user-friendly experimental facility for various users of space utilization. ROS (Robot Operating System) has been emerging as a standard for robot software development. It is an open-source, meta-operating system that provides hardware abstraction services. It implements low and high level functionality components addressing robot perception, control and planning, focusing on the modularity and reusability of code contributed by a growing user community.ROS is designed to be as thin as possible, with no wrapping of user code so that it can be used with other robot software frameworks. The preferred development model is to have ROS independent libraries with clean interfaces. It is language independent, easy to use and scalable to large runtime systems and processes.