Tasks in thesis work were to design three models namely world model, application model and safety model and implement them in a C++ program.The world model describes the world of Robot Panda in general i.e. about what is inside the surroundings of the robot apart from the Robot itself and then features and attributes of all components in world model. In technical terms this is the world of the robot that exists in real world and components in this world are the Robot FPE itself with its arm, the object like cube or ball which can act as obstacle or an object that can be picked up by the robot arm and a human or human arm as is shown in figure below Fig 5.1 and 5.2.\\
This is a model where human / object - robot interaction operation is depicted as a layman showing the following diagram. Technically UML Class Diagrams were used to demonstrate the World Model. Each component was used to describe it as a class showing attributes which is then also used to derive an object diagram which shows the instance of the Class Diagram.
Tasks in thesis work were to design three models namely World Model, Application Model and Safety Model and implement them in a C++ program.The world model describes the world of Robot Panda in general i.e. about what is inside the surroundings of the robot apart from the Robot itself and then features and attributes of all components in World Model.In technical terms this is the world of the robot that exists in real world and components in this world are the Robot FPE itself with its arm, the object like cube or ball which can act as obstacle or an object that can be picked up by the robot arm and a human or human arm as is shown in figure below Fig 5.1 and 5.2.\\
This is a model where human / object - robot interaction operation is depicted as a layman showing the following diagram.Technically UML Class Diagrams were used to demonstrate the World Model .Each component was used to describe it as a class showing attributes which is then also used to derive an object diagram which shows the instance of the Class Diagram.
Next an Application Model was designed and for this Business Process Modelling Notation as a tool was used to demonstrate the diagram. Each component in the World model was used to show itself as a frame in this Application diagram and then the components shown inside as connected together giving a logical flow.The main frame of Robot in BPMN is used to show the flow of task in application diagram from it to other frames using the components of BPMN like "if" condition and process events in addition to start and stop events symbols etc, which then culminate to an end event in the main robot frame once again. These flows show the logical flow of process in this Diagram for which the tool Modelio \footnote{https://www.modelio.org/} was used.\\
A Safety Model diagram using UML State Chart was made showing use case about how robot reacts when detecting obstacles and adds safety in the cell.This was also designed in Modelio tool and uses small components from BPMN. This can also be related with Haddadin Safety Model which is later described and talked about how it can be extended. \\
This three models are described in detail in the previous chapter.
\caption{Robot Panda Picking Up Object Image Source : https://blog.generationrobots.com/en/list-of-criteria-to-look-at-before-buying-a-robot-arm/panda-franka-emika-care-robot-arm-2/}
\label{fig:mzixndu3na}
\end{figure}
\newpage
\section{Programming Of Hardware And Software Components - Purpose And Concepts}
In hardware point we have the Franka robot which has a arm and the arm has joints described by J1...n . We also then have other objects in the world namely obstacles which can be one or more human and then non living ones like a cube ,box or ball. Then we have grasp objects which can be a cube or an item to pick.\\
The Robot Panda has Motion Planning attributes which can be altered. Most of them are in MoveIT Rviz which is the GUI described in detail in the following chapter. The state of robot arm is described by the coordinate position of joints of the arm. We can as well alter the many other parameters like torque on the arm in simulations.The Figure 5.3 shows the robot panda with joints .\\
In the Software section ROS \footnote{https://www.ros.org/} is used which is the Robot Operating System and Catkin which builds the workspace.ROS is started using "roscore" command in terminal to start the ROS. MoveIT is then used to do motion planning for the robot and planning motion around the obstacles. All the plans are then run in real life simulator for which Gazebo Simulation was used, which is used to replicate real life conditions and run robot inside it.This gives an idea if the robot can perform as planned and expected in real life with torque on joints.To use MoveIT,workspace is built using catkin. Erdal´s repos are used and essential in the workspace which are frankaros , pandamoveITconfig and pandasimulation and they are imperative to build the workspace.
\section{Connecting Everything - Simulations\\}
Gazebo Simulator is run alongside MoveIT motion planner which help replicate the MoveIT motion plan in Gazebo simulator and thus let us manipulate the robot using motion plan in Rviz .
Next an application model was designed and for this Business Process Modelling Notation as a tool was used to demonstrate the diagram. Each component in the World model was used to show itself as a frame in this Application diagram and then the components shown inside as connected together giving a logical flow.The main frame of Robot in BPMN is used to show the flow of task in application diagram from it to other frames using the components of BPMN like "if" condition and process events in addition to start and stop events symbols etc, which then culminate to an end event in the main robot frame once again. These flows show the logical flow of process in this diagram for which the tool Modelio \footnote{https://www.modelio.org/} was used.\\
A safety model diagram using UML state chart was made showing use case about how robot reacts when detecting obstacles and adds safety in the cell.This was also designed in Modelio tool and uses small components from BPMN. This can also be related with Haddadin Safety Model which is later described and talked about how it can be extended. \\
This three models are described in detail in the previous chapter.
\caption{Robot Panda Picking Up Object Image Source : https://blog.generationrobots.com/en/list-of-criteria-to-look-at-before-buying-a-robot-arm/panda-franka-emika-care-robot-arm-2/}
\label{fig:mzixndu3na}
\end{figure}
\newpage
\section{Programming Of Hardware And Software Components - Purpose And Concepts}
In hardware point we have the Franka robot which has a arm and the arm has joints described by J1...n . We also then have other objects in the world namely obstacles which can be one or more human and then non living ones like a cube ,box or ball. Then we have grasp objects which can be a cube or an item to pick.\\
The robot Panda has Motion Planning attributes which can be altered. Most of them are in MoveIT Rviz which is the GUI described in detail in the following chapter. The state of robot arm is described by the coordinate position of joints of the arm. We can as well alter the many other parameters like torque on the arm in simulations.The Figure 5.3 shows the robot panda with joints .\\
In the Software section ROS \footnote{https://www.ros.org/} is used which is the Robot Operating System and catkin which builds the workspace.ROS is started using "roscore" command in terminal to start the ROS. MoveIT is then used to do motion planning for the robot and planning motion around the obstacles. All the plans are then run in real life simulator for which Gazebo Simulation was used, which is used to replicate real life conditions and run robot inside it.This gives an idea if the robot can perform as planned and expected in real life with torque on joints.To use MoveIT,workspace is built using catkin. Erdal´s repos are used and essential in the workspace which are frankaros , pandamoveITconfig and pandasimulation and they are imperative to build the workspace.
\section{Connecting Everything - Simulations\\}
Gazebo Simulator is run alongside MoveIT motion planner which help replicate the MoveIT motion plan in Gazebo simulator and thus let us manipulate the robot using motion plan in Rviz .
