Development of a Digital Twin for the UR3 industrial collaborative robot arm with the Robotiq Hande gripper attachment using ROS: Laying the Foundation for Reinforcement Learning Research and Advanced Academic Exploration
In the context of the Fourth Industrial Revolution, the Ambiente Integrado de Aprendizaje (AIA) lab at the University of the Andes, Colombia, recognized the need to utilize underexploited hardware for research and development. This research aimed to create a digital twin of the UR3 Industrial Collab...
- Autores:
-
Méndez Galvis, Juan Andrés
- Tipo de recurso:
- Trabajo de grado de pregrado
- Fecha de publicación:
- 2023
- Institución:
- Universidad de los Andes
- Repositorio:
- Séneca: repositorio Uniandes
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.uniandes.edu.co:1992/69293
- Acceso en línea:
- http://hdl.handle.net/1992/69293
- Palabra clave:
- Digital Twin
Internet of Things
UR3 Industrial Collaborative Robot
Reinforcement Learning
ROS
Gazebo
Software Development
Object Recognition
Robotics
Dockerization
Incremental Development
Simulation
Open-source software
Ingeniería
- Rights
- openAccess
- License
- Atribución 4.0 Internacional
| id |
UNIANDES2_9c9bd5e7c63f0e581005e7b6d844dbd4 |
|---|---|
| oai_identifier_str |
oai:repositorio.uniandes.edu.co:1992/69293 |
| network_acronym_str |
UNIANDES2 |
| network_name_str |
Séneca: repositorio Uniandes |
| repository_id_str |
|
| dc.title.none.fl_str_mv |
Development of a Digital Twin for the UR3 industrial collaborative robot arm with the Robotiq Hande gripper attachment using ROS: Laying the Foundation for Reinforcement Learning Research and Advanced Academic Exploration |
| title |
Development of a Digital Twin for the UR3 industrial collaborative robot arm with the Robotiq Hande gripper attachment using ROS: Laying the Foundation for Reinforcement Learning Research and Advanced Academic Exploration |
| spellingShingle |
Development of a Digital Twin for the UR3 industrial collaborative robot arm with the Robotiq Hande gripper attachment using ROS: Laying the Foundation for Reinforcement Learning Research and Advanced Academic Exploration Digital Twin Internet of Things UR3 Industrial Collaborative Robot Reinforcement Learning ROS Gazebo Software Development Object Recognition Robotics Dockerization Incremental Development Simulation Open-source software Ingeniería |
| title_short |
Development of a Digital Twin for the UR3 industrial collaborative robot arm with the Robotiq Hande gripper attachment using ROS: Laying the Foundation for Reinforcement Learning Research and Advanced Academic Exploration |
| title_full |
Development of a Digital Twin for the UR3 industrial collaborative robot arm with the Robotiq Hande gripper attachment using ROS: Laying the Foundation for Reinforcement Learning Research and Advanced Academic Exploration |
| title_fullStr |
Development of a Digital Twin for the UR3 industrial collaborative robot arm with the Robotiq Hande gripper attachment using ROS: Laying the Foundation for Reinforcement Learning Research and Advanced Academic Exploration |
| title_full_unstemmed |
Development of a Digital Twin for the UR3 industrial collaborative robot arm with the Robotiq Hande gripper attachment using ROS: Laying the Foundation for Reinforcement Learning Research and Advanced Academic Exploration |
| title_sort |
Development of a Digital Twin for the UR3 industrial collaborative robot arm with the Robotiq Hande gripper attachment using ROS: Laying the Foundation for Reinforcement Learning Research and Advanced Academic Exploration |
| dc.creator.fl_str_mv |
Méndez Galvis, Juan Andrés |
| dc.contributor.advisor.none.fl_str_mv |
Lozano Garzon, Carlos Andres |
| dc.contributor.author.none.fl_str_mv |
Méndez Galvis, Juan Andrés |
| dc.contributor.researchgroup.es_CO.fl_str_mv |
Ambiente Integrado de Aprendizaje (AIA) COMMIT/PILO |
| dc.subject.keyword.none.fl_str_mv |
Digital Twin Internet of Things UR3 Industrial Collaborative Robot Reinforcement Learning ROS Gazebo Software Development Object Recognition Robotics Dockerization Incremental Development Simulation Open-source software |
| topic |
Digital Twin Internet of Things UR3 Industrial Collaborative Robot Reinforcement Learning ROS Gazebo Software Development Object Recognition Robotics Dockerization Incremental Development Simulation Open-source software Ingeniería |
| dc.subject.themes.es_CO.fl_str_mv |
Ingeniería |
| description |
In the context of the Fourth Industrial Revolution, the Ambiente Integrado de Aprendizaje (AIA) lab at the University of the Andes, Colombia, recognized the need to utilize underexploited hardware for research and development. This research aimed to create a digital twin of the UR3 Industrial Collaborative Robot, mimicking a pick-and-place task, to make experimentation accessible to researchers, students, and curiosity-driven individuals. Using an incremental development methodology in Robot Operating System (ROS) Gazebo and adhering to best practices in Python, a digital twin with integrated telemetry and object recognition modules was successfully developed. A detailed architecture was also outlined, bridging both real hardware and simulated environments. The project resulted in a digital twin that accurately reflected the real hardware, accessible via Dockerization, and contributed to the AIA lab¿s capabilities. Challenges were encountered in accurately simulating specific behaviors, such as the grasping task, highlighting areas for future research. This work marks a significant step towards the integration of digital twin technology in Reinforcement learning (RL) applications and showcases the potential of digitalization in enhancing experimental accessibility and flexibility in robotics. |
| publishDate |
2023 |
| dc.date.accessioned.none.fl_str_mv |
2023-08-04T21:58:49Z |
| dc.date.available.none.fl_str_mv |
2023-08-04T21:58:49Z |
| dc.date.issued.none.fl_str_mv |
2023-08-03 |
| dc.type.es_CO.fl_str_mv |
Trabajo de grado - Pregrado |
| dc.type.driver.none.fl_str_mv |
info:eu-repo/semantics/bachelorThesis |
| dc.type.version.none.fl_str_mv |
info:eu-repo/semantics/acceptedVersion |
| dc.type.coar.none.fl_str_mv |
http://purl.org/coar/resource_type/c_7a1f |
| dc.type.content.es_CO.fl_str_mv |
Text |
| dc.type.redcol.none.fl_str_mv |
http://purl.org/redcol/resource_type/TP |
| format |
http://purl.org/coar/resource_type/c_7a1f |
| status_str |
acceptedVersion |
| dc.identifier.uri.none.fl_str_mv |
http://hdl.handle.net/1992/69293 |
| dc.identifier.instname.es_CO.fl_str_mv |
instname:Universidad de los Andes |
| dc.identifier.reponame.es_CO.fl_str_mv |
reponame:Repositorio Institucional Séneca |
| dc.identifier.repourl.es_CO.fl_str_mv |
repourl:https://repositorio.uniandes.edu.co/ |
| url |
http://hdl.handle.net/1992/69293 |
| identifier_str_mv |
instname:Universidad de los Andes reponame:Repositorio Institucional Séneca repourl:https://repositorio.uniandes.edu.co/ |
| dc.language.iso.es_CO.fl_str_mv |
eng |
| language |
eng |
| dc.rights.license.*.fl_str_mv |
Atribución 4.0 Internacional |
| dc.rights.uri.*.fl_str_mv |
http://creativecommons.org/licenses/by/4.0/ |
| dc.rights.accessrights.none.fl_str_mv |
info:eu-repo/semantics/openAccess |
| dc.rights.coar.none.fl_str_mv |
http://purl.org/coar/access_right/c_abf2 |
| rights_invalid_str_mv |
Atribución 4.0 Internacional http://creativecommons.org/licenses/by/4.0/ http://purl.org/coar/access_right/c_abf2 |
| eu_rights_str_mv |
openAccess |
| dc.format.extent.es_CO.fl_str_mv |
49 páginas |
| dc.format.mimetype.es_CO.fl_str_mv |
application/pdf |
| dc.publisher.es_CO.fl_str_mv |
Universidad de los Andes |
| dc.publisher.program.es_CO.fl_str_mv |
Ingeniería de Sistemas y Computación |
| dc.publisher.faculty.es_CO.fl_str_mv |
Facultad de Ingeniería |
| dc.publisher.department.es_CO.fl_str_mv |
Departamento de Ingeniería Sistemas y Computación |
| institution |
Universidad de los Andes |
| bitstream.url.fl_str_mv |
https://repositorio.uniandes.edu.co/bitstreams/39d84f4a-4f93-44a9-bc8d-14efc1a0209b/download https://repositorio.uniandes.edu.co/bitstreams/faf8481c-a95b-42da-abec-3e307738b466/download https://repositorio.uniandes.edu.co/bitstreams/aa4250f3-fb51-4425-9cfa-10c21db4e625/download https://repositorio.uniandes.edu.co/bitstreams/c28550f2-9526-4811-8b26-2dfa64d2eb00/download https://repositorio.uniandes.edu.co/bitstreams/334c546a-5992-441c-ab8d-abd5e978fd12/download https://repositorio.uniandes.edu.co/bitstreams/44ae7f5a-79d5-483a-9bd5-e1a22185da57/download https://repositorio.uniandes.edu.co/bitstreams/5dbb2aed-7345-4f27-a31a-bab1268e449a/download https://repositorio.uniandes.edu.co/bitstreams/4ede6d35-b3d8-48d7-afca-04123750d173/download |
| bitstream.checksum.fl_str_mv |
a1162be0d974cdbf4b0d7200a6741b74 08b106dfeb12472e88207a069e15ba30 715bdcd485b56d13bfe006bb1c873ef5 29b67d9abe1f771a8c9478faed8a8b8e 17295ecda2e456ec475da1d4731c894d 99dd79ae71c142f6b6b1fd70ead5d5db 0175ea4a2d4caec4bbcc37e300941108 5aa5c691a1ffe97abd12c2966efcb8d6 |
| bitstream.checksumAlgorithm.fl_str_mv |
MD5 MD5 MD5 MD5 MD5 MD5 MD5 MD5 |
| repository.name.fl_str_mv |
Repositorio institucional Séneca |
| repository.mail.fl_str_mv |
adminrepositorio@uniandes.edu.co |
| _version_ |
1818111948405866496 |
| spelling |
Al consultar y hacer uso de este recurso, está aceptando las condiciones de uso establecidas por los autoresAtribución 4.0 Internacionalhttp://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Lozano Garzon, Carlos Andresvirtual::13191-1Méndez Galvis, Juan Andrésa714668a-99d0-433a-9331-8295c5e20236600Ambiente Integrado de Aprendizaje (AIA) COMMIT/PILO2023-08-04T21:58:49Z2023-08-04T21:58:49Z2023-08-03http://hdl.handle.net/1992/69293instname:Universidad de los Andesreponame:Repositorio Institucional Sénecarepourl:https://repositorio.uniandes.edu.co/In the context of the Fourth Industrial Revolution, the Ambiente Integrado de Aprendizaje (AIA) lab at the University of the Andes, Colombia, recognized the need to utilize underexploited hardware for research and development. This research aimed to create a digital twin of the UR3 Industrial Collaborative Robot, mimicking a pick-and-place task, to make experimentation accessible to researchers, students, and curiosity-driven individuals. Using an incremental development methodology in Robot Operating System (ROS) Gazebo and adhering to best practices in Python, a digital twin with integrated telemetry and object recognition modules was successfully developed. A detailed architecture was also outlined, bridging both real hardware and simulated environments. The project resulted in a digital twin that accurately reflected the real hardware, accessible via Dockerization, and contributed to the AIA lab¿s capabilities. Challenges were encountered in accurately simulating specific behaviors, such as the grasping task, highlighting areas for future research. This work marks a significant step towards the integration of digital twin technology in Reinforcement learning (RL) applications and showcases the potential of digitalization in enhancing experimental accessibility and flexibility in robotics.Ingeniero MecánicoPregradodigital twins49 páginasapplication/pdfengUniversidad de los AndesIngeniería de Sistemas y ComputaciónFacultad de IngenieríaDepartamento de Ingeniería Sistemas y ComputaciónDevelopment of a Digital Twin for the UR3 industrial collaborative robot arm with the Robotiq Hande gripper attachment using ROS: Laying the Foundation for Reinforcement Learning Research and Advanced Academic ExplorationTrabajo de grado - Pregradoinfo:eu-repo/semantics/bachelorThesisinfo:eu-repo/semantics/acceptedVersionhttp://purl.org/coar/resource_type/c_7a1fTexthttp://purl.org/redcol/resource_type/TPDigital TwinInternet of ThingsUR3 Industrial Collaborative RobotReinforcement LearningROSGazeboSoftware DevelopmentObject RecognitionRoboticsDockerizationIncremental DevelopmentSimulationOpen-source softwareIngeniería201815808Publicationhttps://scholar.google.es/citations?user=WRJlR-UAAAAJvirtual::13191-10000-0003-2920-6320virtual::13191-1https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0000219541virtual::13191-1144aa5a0-592f-47a4-995b-a440d00b1658virtual::13191-1144aa5a0-592f-47a4-995b-a440d00b1658virtual::13191-1TEXTThesis_Computer___System_Engineering_2023_1.pdf.txtThesis_Computer___System_Engineering_2023_1.pdf.txtExtracted texttext/plain63441https://repositorio.uniandes.edu.co/bitstreams/39d84f4a-4f93-44a9-bc8d-14efc1a0209b/downloada1162be0d974cdbf4b0d7200a6741b74MD56autorizacion tesis Juan Andrés Mendez SISTEMAS.pdf.txtautorizacion tesis Juan Andrés Mendez SISTEMAS.pdf.txtExtracted texttext/plain1161https://repositorio.uniandes.edu.co/bitstreams/faf8481c-a95b-42da-abec-3e307738b466/download08b106dfeb12472e88207a069e15ba30MD58THUMBNAILThesis_Computer___System_Engineering_2023_1.pdf.jpgThesis_Computer___System_Engineering_2023_1.pdf.jpgIM Thumbnailimage/jpeg10849https://repositorio.uniandes.edu.co/bitstreams/aa4250f3-fb51-4425-9cfa-10c21db4e625/download715bdcd485b56d13bfe006bb1c873ef5MD57autorizacion tesis Juan Andrés Mendez SISTEMAS.pdf.jpgautorizacion tesis Juan Andrés Mendez SISTEMAS.pdf.jpgIM Thumbnailimage/jpeg16184https://repositorio.uniandes.edu.co/bitstreams/c28550f2-9526-4811-8b26-2dfa64d2eb00/download29b67d9abe1f771a8c9478faed8a8b8eMD59ORIGINALThesis_Computer___System_Engineering_2023_1.pdfThesis_Computer___System_Engineering_2023_1.pdfTrabajo de Gradoapplication/pdf3552131https://repositorio.uniandes.edu.co/bitstreams/334c546a-5992-441c-ab8d-abd5e978fd12/download17295ecda2e456ec475da1d4731c894dMD55autorizacion tesis Juan Andrés Mendez SISTEMAS.pdfautorizacion tesis Juan Andrés Mendez SISTEMAS.pdfHIDEapplication/pdf356550https://repositorio.uniandes.edu.co/bitstreams/44ae7f5a-79d5-483a-9bd5-e1a22185da57/download99dd79ae71c142f6b6b1fd70ead5d5dbMD54CC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; charset=utf-8908https://repositorio.uniandes.edu.co/bitstreams/5dbb2aed-7345-4f27-a31a-bab1268e449a/download0175ea4a2d4caec4bbcc37e300941108MD52LICENSElicense.txtlicense.txttext/plain; charset=utf-81810https://repositorio.uniandes.edu.co/bitstreams/4ede6d35-b3d8-48d7-afca-04123750d173/download5aa5c691a1ffe97abd12c2966efcb8d6MD511992/69293oai:repositorio.uniandes.edu.co:1992/692932024-03-13 14:52:38.414http://creativecommons.org/licenses/by/4.0/embargohttps://repositorio.uniandes.edu.coRepositorio institucional Sénecaadminrepositorio@uniandes.edu.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 |