A conventional Mobile Manipulator control is a sequential method in which the manipulator is controlled after the mobile platform moves. For efficiency, we developed a simultaneous Mobile manipulator control method using ROS (Robot Operating System) and Husky_UR3. This approach significantly reduces the total task completion time by coordinating the base movement and arm manipulation simultaneously rather than sequentially.
When a human plays the violin, motion for plucking the bowstrings as well as a violin fingering technique for pressing the strings using fingers are required. The violin fingering plays an important role in determining the tone or sound when the violin is being played. So, we developed a robot hand that functions as the left hand of the existing violin-playing robot. The design incorporates anthropomorphic finger mechanisms with force sensing capabilities.
To play a violin, the bow is attached at the end-effector of the robot arm. The two-axis load cell is mounted on the bow handle to measure the horizontal and vertical force. The violin is fixed to the robot body. For an accurate analysis of the played sound, an electrical violin that is resistant to external noise is used. The system employs auditory feedback to improve sound quality and achieve precise bowing control.
