Development of an enhanced and standardized interface for the JACO arm

为 JACO 手臂开发增强型标准化接口

• 批准号: 414080-2011
• 负责人: Michaud, François
• 金额: $ 1.82万
• 依托单位: Université de Sherbrooke
• 依托单位国家: 加拿大
• 项目类别: Engage Grants Program
• 财政年份: 2011
• 资助国家: 加拿大
• 起止时间: 2011-01-01 至 2012-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=491676
• 关键词: Development; enhanced; standardized; interface; JACO

The JACO arm, designed and manufactured by Kinova inc. (Montréal, Canada), is a lightweight, technical assistance robot that can be fixed to a powered wheelchair, a workstation and to a table. An Application Programming Interface (API) is available to interface the arm and allow programmers to configure advanced parameters and integrate the robot to their own systems. Even though JACO's API represents a powerful tool to communicate information to and from the robotic manipulator, it can only be used for this unique device. The use of a standardized control and programming library is necessary to meet Kinova's market development plan. ROS (Robot Operating System) is a robust, modular and well-supported open-source library developed by Willow Garage. Currently, ROS is one, if not the most adopted software libraries and tools to help software developers create robot applications. Interfacing JACO with ROS would broaden the arm's capabilities, both for research and application purposes, in addition of opening Kinova's market. Therefore, the project consists of using ROS to interface JACO's low-level onboard modules, and then demonstrate how it can be used to expand JACO's capabilities. A team from IntRoLab, the Intelligent, Interactive, Integrated and Interdisciplinary Robot Lab Systems of the Université de Sherbrooke, will work with Kinova on this project. IntRoLab has adopted ROS as its robotic software environment for programming and interface intelligent capabilities on many different robotic platforms, and has the expertise to validate efficiently how and what ROS can provide to JACO. A standardized and enhanced interface like ROS will give JACO important capabilities and should result in increased sales around the world. The objective with this first collaboration between Kinova and IntRoLab is to be the start of a fruitful and rich partnership for significant scientific and technological innovations that will lead to better quality of life and significant social and economic benefit to Canada in the emerging market of interactive robotics.

雅科臂由Kinova Inc.设计和制造。（加拿大蒙特利尔），是一种轻便的技术援助机器人，可以固定在电动轮椅，工作站和桌子上。应用程序编程接口（API）可用于连接手臂，并允许程序员配置高级参数并将机器人集成到自己的系统中。尽管雅科的API代表了与机器人机械手进行信息通信的强大工具，但它只能用于这种独特的设备。使用标准化的控制和编程库对于满足Kinova的市场开发计划是必要的。ROS（Robot Operating System）是一个健壮的、模块化的、支持良好的开源库，由杨柳Garage开发。目前，ROS是帮助软件开发人员创建机器人应用程序的最常用的软件库和工具之一。雅科与ROS的对接将扩大该部门的研究和应用能力，同时打开Kinova的市场。因此，该项目包括使用ROS接口雅科的低级别板载模块，然后演示如何使用它来扩展雅科的功能。来自IntRoLab的一个团队，即舍布鲁克大学的智能，交互，集成和跨学科机器人实验室系统，将与Kinova合作完成这个项目。IntRoLab已采用ROS作为其机器人软件环境，用于在许多不同的机器人平台上进行编程和接口智能功能，并拥有有效验证ROS如何以及可以为雅科提供什么的专业知识。像ROS这样的标准化和增强的界面将为雅科提供重要的功能，并将导致全球销售额的增加。Kinova和IntRoLab之间的首次合作旨在成为一个富有成效和丰富的合作伙伴关系的开始，以实现重大的科学和技术创新，从而提高加拿大在交互式机器人新兴市场的生活质量和显著的社会和经济效益。