Implementation of an action library : Implementation of a Manipulation Action library for UR3e Robot Arm

Abstract: This thesis aims to parameterize and generalize functions for robotic use. The goal is to simplify the usage of robot arms. This thesis explores robot functionalities within the theme of simple cooking tasks. The functions explored are cutting objects, stirring bowls and pick and place. An environment where objects can be moved around is created and each individual task can be described as a function with parameters. In addition to this DMP (Dynamic Movement Primitives) is incorporated into the functions for future usage in mimicking human motion when performing tasks. The result of actions being parameterized and general in their definitions makes them robust and easy to use in an environment where objects are not always located in the same positions. The incorporation of the DMP adds to the generality of the functions, being able to use the same setup without modifications for objects of different sizes as well as having trajectory inputs for robot execution.