Videos

Experiment 1: Pick and Place
A pick-and-place task was carried out with a PUMA 560, a number of tools spread on a workbench and a vision module attached to the gripper of the PUMA. After the tool has been decided upon by the vision algorithm, the PUMA will then proceed to pick up (or grasp) the object and place it at a specifed location. [video] (47.3MB)

Experiment 2: SIMTech Advanced Manufacturing Forum
This demo consists of a mobile manipulator equipped with a SICK laser sensor, multiple obstacles (cylinders) and a board for spraying a star. The mobile manipulator consists of a PA-10 mounted on a mobile base which was designed and assembled as a collaborative project between the National University of Singapore (NUS) and the Singapore Institute of Manufacturing Technology (SIMTech). [video] (24.4MB)

Experiment 3: Door Opening
Door opening was performed on a manipulator (PA-10) equipped with a force sensor. This demo demonstrates force and motion control on the robotic arm exhibiting compliant motion. [video] (5.3MB)

Experiment 4: Multirobot Coordination Task 1
An environment consisting of a static manipulator (PA-10) equipped with a force sensor and mobile robots ER1 and ER2 was setup with the notion of allowing both the mobile robots to deliver a part each to the PA-10. The manipulator will then pick up the part from a mobile robot and place it on a workbench simulating the act of assembly. The force sensor is used to regulate the downward force of the gripper upon impact on the mobile robots delivery table. Multiple agents are now present and some form of coordination should ensue. [video (with job dependency graph) (76.4MB)] [video (with music) (15.5MB)]

Experiment 5: Multirobot Coordination Task 2
Is it possible that, if ER1 approaches its pick-up location first, the controller will compute an outcome such that PA-10 retrieves ER1s object? [video (with job dependency graph) (83.5MB)] [video (with music) (15.2MB)]

Job Dependency Matrix
Case 1: No dependencies between subtasks [video] (7.4MB)

Case 2: Subtask 1 dependent on Subtask 2 [video] (10.4MB)

Case 3: Subtask 2 dependent on Subtask 1 [video] (10.6MB)

Case 4: Hard Sequential [video] (14.9MB)

Roomba and PA-10
Simulated Pick and Place Task [video] (24.7MB)

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