Developement of an aplication of Web Services for the encapsulation of a Humanoid Hands' functionalities as integration mechanism for Dual Arm Robotics
de la Cuadra Vila, Jesús Martín (2020)
2020
Tekniikan ja luonnontieteiden tiedekunta - Faculty of Engineering and Natural Sciences
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Hyväksymispäivämäärä
2020-06-22
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tuni-202006166120
https://urn.fi/URN:NBN:fi:tuni-202006166120
Tiivistelmä
As years go by, the automation industry keeps pushing deep into factory operations. Which provides many benefits to the production line, the main one being the avoidance of human la-bour. Furthermore, it provides precision on the operation and control on the workflow. This con-tinuous development of the automation within the Industry leads to a higher difficulty of tasks to be solved by a robot. Which, sometimes, cannot be performed. Maybe, because the task to complete isn’t physically the same each time or because there needs to be a human interpreta-tion on each cycle.
This document focuses on the physical part of the task. Where there must be a resemblance between a human operator and the robot. And here, there must be some thought on what truly makes a human replaceable by a robot. On some cases it’s a decision. Let’s say, size, shape or color, for example, but on others it’s the complexity of the task. On this last point, it is key to resemble the human contact with the process it is replacing, and this leads us to the use of hand-a-like grippers and with it some terms such as dexterity and anthropomorphism that will be explained on the literature review. To approach this scenario, this thesis studies the imple-mentation (in this case via Web Services) of and humanoid end-effector in order to mimic the gestures and poses required for any given task.
This thesis aims to provide a set of services to adequately make use of the humanoid ro-botic hand to, afterwards, tackle any given situation where a human is performing a task that requires some dexterity normal grippers cannot achieve. Filling another little gap on the list of tasks that are still performed by humans due to the dexterity needed on the field.
This document focuses on the physical part of the task. Where there must be a resemblance between a human operator and the robot. And here, there must be some thought on what truly makes a human replaceable by a robot. On some cases it’s a decision. Let’s say, size, shape or color, for example, but on others it’s the complexity of the task. On this last point, it is key to resemble the human contact with the process it is replacing, and this leads us to the use of hand-a-like grippers and with it some terms such as dexterity and anthropomorphism that will be explained on the literature review. To approach this scenario, this thesis studies the imple-mentation (in this case via Web Services) of and humanoid end-effector in order to mimic the gestures and poses required for any given task.
This thesis aims to provide a set of services to adequately make use of the humanoid ro-botic hand to, afterwards, tackle any given situation where a human is performing a task that requires some dexterity normal grippers cannot achieve. Filling another little gap on the list of tasks that are still performed by humans due to the dexterity needed on the field.