Project Description
When dealing with robotics, the implementation and the experimentation of new controllers on real hardware are not always possible due to hardware unavailability and unpredictable behaviors of the controller.
A digital twin, i.e. an environment in which the robot behavior is simulated, can be used instead of the real hardware for testing purposes to circumvent such a problem.
The project aims at developing a digital twin of a dual-arm (UR5/UR10) station available at the IRMA lab to simulate force feedback control, using the real hardware as a reference to test the reliability of the simulation.
Prerequisites
- Strong initiative and attitude to problem-solving
- Basic knowledge and strong interest in software programming (C++/Python)
- Sound knowledge of linear algebra
- Sound knowledge of machine and drive mechanics
Not required but good to have
- Experience with ROS
- Experience with Gazebo/MuJoCo/Nvidia Isaac
Target Objectives
- Acquire competence in serial manipulators’ kinematics
- Acquire competence in serial manipulator control and simulation
- Strengthen competence in software programming
Expected Results
- Development of a simulation environment for a dual-arm station in Gazebo
- Good and robust correspondence between the real system and its digital twin
- Simple demo of kinematics control in the simulator
Industrial Robotics, Mechatronics & Automation Laboratory @ Bologna 