螺帽鎖固加工測試
This video shows our robotic arm performing the shoring task. The shoring task has to be fulfilled in the best in class manipulation mission of the RoboCup Rescue Robot League. The task is to build a temporary item, e.g., from wooden beams, to support a partly collapsed structure. The shoring task was realized using the Schunk LWA 4P robotic arm equipped with the Schunk WSG 50 gripper to pick up the beams and a depth image camera from ASUS to sens the environment. The arm was mounted on the mobile base Obelix. The shoring task was implemented as semi-autonomous application. This work is the outcome of the RoboCup short-term visit of team TEDUSAR Graz at team Hector Darmstadt.