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Autonomous mobile maintenance of switchboard cabinets
A torque controlled robot should localize switchboard cabinets autonomously and open their doors.
Keywords: object recognition, planning, mobile manipulation
We have recently build a robot for mobile manipulation consisting of a MABI Speedy 12 industrial robot arm mounted on a platform with a differential drive. We want to use this robot to perform maintenance tasks in the Gotthard base tunnel. Due to vibrations of the passing trains, fuses in switchboard cabinets tend to slacken in their mountings.
As a first step, the robot should locate the cabinets, open them, inspect them visually and close them again.
Depending on the type of your project (bachelor thesis/semester project/master thesis) only parts of the problem need to be tackled.
We have recently build a robot for mobile manipulation consisting of a MABI Speedy 12 industrial robot arm mounted on a platform with a differential drive. We want to use this robot to perform maintenance tasks in the Gotthard base tunnel. Due to vibrations of the passing trains, fuses in switchboard cabinets tend to slacken in their mountings. As a first step, the robot should locate the cabinets, open them, inspect them visually and close them again. Depending on the type of your project (bachelor thesis/semester project/master thesis) only parts of the problem need to be tackled.
- Selection and integration of an appropriate end effector
- Location of the cabinets from LIDAR and RGB data
- Open the cabinet with the force-controlled manipulator
- Selection and integration of an appropriate end effector - Location of the cabinets from LIDAR and RGB data - Open the cabinet with the force-controlled manipulator
- excellent programming knowledge in C++
- experience in object recognition techniques
- strong background in control theory
- excellent programming knowledge in C++ - experience in object recognition techniques - strong background in control theory