Desarrollo de una aplicación de servicios web para el encapsulado de las funcionalidades de una mano humanoide como mecanismo de integración para la robótica de brazo dual

Abstract

[ES] Actualmente existen multitud de agarres roboticos, los cuales suelen ser especificos para su operacion. Sin embargo, puede haber operaciones mas similares a las tareas de operario que requieran de mayor habilidad. Este TFM trata sobre, mediante el uso de servicios web, acoplar un mano robotica (AR-10) a un robot de brazos duales (YASKAWA). Esta mano abre el rango de posibles agarres para aumentar la cantidad de servicios del robot. El objetivo es, conectar la mano fisicamente mediante una Unidad Terminal Remota (Inico S1000) con conexion Serial y así proveer una serie de servicios para la programacion y coordinacion del sistema conjunto.

[EN] 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 labour. Furthermore, it provides precision on the operation and control on the workflow. This continuous 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 interpretation 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 handa-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 implementation (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 robotic 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.