Project

General

Profile

Wiki » History » Version 12

Kévin Desormeaux, 2021-06-07 10:55

1 8 Kévin Desormeaux
h1. Cooperative Manipulation (CM) wiki for dual pandas
2 1 Kévin Desormeaux
3 9 Kévin Desormeaux
This package was originally developed for the PRO-ACT project where the objective was to develop solutions for Cooperative Manipulation.
4 5 Kévin Desormeaux
Originally the idea was for two mobile manipulators to co-manipulate an object. 
5
6
!pro_act_1.jpg!
7 7 Kévin Desormeaux
8 11 Kévin Desormeaux
The Cooperative Manipulation task can be split in two: Planning & Control. 
9
The planning software stack was implemented by reusing the work achieved in the dual-arm-worker project, another LAAS project.
10 1 Kévin Desormeaux
The control part was made from scratch and followed the ROS Control template for the implementation. 
11 12 Kévin Desormeaux
You might encounter the following abbreviations: *CM2P & CM2P, MP2* . CM2P and CM2C denotes respectively the planning and control parts of the project. 
12
In parallel of the PRO-ACT project, we initially had the MP2 project, a project intern to LAAS. The objective was to implement the solutions developed for PRO-ACT at LAAS (with the panda robots and the mobile robots Manna & Minnie) and not loose this work. However due to the COVID situation and the impossibility to travel, the objectives of PRO-ACT were lowered, and instead of using the two mobile manipulators of the pictures above, it was decided to implement it with the two fixed robotic arms present at LAAS, the pandas. So in practice the PRO-ACT and MP2 project merged.
13 1 Kévin Desormeaux
14 5 Kévin Desormeaux
In this wiki you can find:
15
# A user manual to operate the panda arms for the first time
16 8 Kévin Desormeaux
# Documentation regarding the software implementation for the Cooperative Manipulation
17 5 Kévin Desormeaux
# Various resources (videos, etc)
18 3 Kévin Desormeaux
19 1 Kévin Desormeaux
h2. Table of Contents
20 2 Kévin Desormeaux
21 4 Kévin Desormeaux
# [[Modules description and installation]]
22 3 Kévin Desormeaux
# [[Cooperative Manipulation Planning]]
23
# [[Cooperation Manipulation Control]]