helper functions and services to interact with the robot, and provides a lot of useful transformation services Also offers functions that make use of Force/Torque Sensor like MoveToTouch which moves in a certain specified direction and a force is detected and then immediatly stops the robot.
Used for Robothon Grand challenge (Our Team RAND-E ranked 3rd World Wide):
Also Used for Autonomous Semi-Destructive Disassembly of Laptops:
For more information, and if you use this work please cite and refer to our paper
@INPROCEEDINGS{9686083, author={Farhan, Abdelrahman S. and Bassiouny, Abdelrhman M. and Afif, Youssef T. and Gamil, Abdelrhman A. and Alsheikh, Mohammed A. and Kamal, Amr M. and Elenany, Khaled S. and Bahour, Michael A. and Awad, Mohammed I. and Maged, Shady A.},
booktitle={2021 16th International Conference on Computer Engineering and Systems (ICCES)},
title={Autonomous Non-Destructive Assembly/Disassembly of Electronic Components using A Robotic Arm},
year={2021}, pages={1-7}, doi={10.1109/ICCES54031.2021.9686083}}