The project is related to the REACT-EU funding instrument, as part of the actions taken by the European Union in response to the COVID-19 pandemic.

Video made by Handle It Remotely.
This is the 2/8 video in a series of videos demonstrating the remote maintenance operation of an electrical connector. These videos show from start to finish the replacement of a trapetzoidal flange nut, attached with M6 bolts. This video demonstrates usefulness of movements scaling. The scaling factor describes relationship between the robot and haptic arm movement:
1:1 position scale and 1:1 rotation scale -- both will move and rotate the same amount
1:10 position scale -- robot moves 1 cm if haptic arm is moved 10 cm
1:10 rotation scale -- robots wrist will rotate 1 degree if haptic arm wrist is rotated 10 degrees

Remote handling is done utilizing Universal Robots UR10e robot together with a high force version of TAO haptic arm by Haption. These two devices are integrated by an in-house remote handling control software executing in a Windows PC. The haptic control system connects with VirtuoseAPI driver to access the functionalities embedded in Haption's haptic devices.

Both automatic and remote operations can be done by swithing the state of the system using the haptic control system. The robot contains a multi threaded script program for communication and control. Robots RTDE communication is used to receive commands and send data.

The video is produced during the PRODI development and investment project, funded by the Pirkanmaa Regional Development Fund (ERDF), will define, develop and pilot a networked RDI and pilot environment for process automation in Pirkanmaa, bringing together a new cluster of excellence at the premises of TAMK, TAU and VTT.

Link to PRODI site:
[ Ссылка ]

Links to videos:

1/8 Introduction:
[ Ссылка ]

2/8 Scaling Movements:
[ Ссылка ]

3/8 Vacuum Cleaning:
[ Ссылка ]

4/8 Brushing:
[ Ссылка ]

5/8 Configuring:
[ Ссылка ]

6/8 Screwdriver:
[ Ссылка ]

7/8: Replacing the Centre Nut
[ Ссылка ]

8/8 Bolting:
[ Ссылка ]

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