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HR-Recycler Cobot package

This package was developed during the Horizon 2020 project Hybrid Human-Robot RECYcling plant for electriCal and eLEctRonic equipment, https://cordis.europa.eu/project/id/820742/results, at the Chair of Automatic Control Engineering, Technical University Munich.

It wraps a COMAU-Racer 5 0.80 industrial robot or cobot with dedicated tools and grippers.

The focus was on providing

  • a framework for the ROS-based control of the robot, including motion planner and end-effector control in SE(3),
  • control capabilities of end-effector tools (electric and pneumatic gripper, screwdriver, shaft grinder),
  • force-guided manipulation skills that rely on F/T-measurements at the wrist of the robot to cope with uncertain visual input.

Package-overview

  • hrr_cobot_robot contains tool controllers and manipulation skills.
  • hrr_common contains URDFs, common code snippets / helper functions, as well as the rviz launch/configuration file to evaluate the robot setup before launching.
  • hrr_controllers contains robot controllers.

For a more complete documentation, please reach out.