egomo™ is our first prototype of a visual sensor which enables robots to analyze the image of the immediate environment and take appropriate action. With egomo you are able to program a wide spectrum of robot behavior based on 2D & 3D images, as well as force, torque, and acceleration data.
In its first iteration the egomo sensor head was developed specifically to work with a Universal Robots UR5 in combination with a Robotiq 2-finger-85 gripper, and optionally the Robotiq FT-300 force-torque sensor.
One of egomo's unique features is the wireless connection of sensors and gripper. Operating 2 cameras, a force-torque sensor, a gripper, and additional sensors create a bundle of at least 4 cables that, leading to a connector box or host computer, can severely hinder movement of the joints and run the risk of entanglement. While this might not be of much consequence when dealing with repetitive/static movement patterns, it can quickly become a problem in adaptive robotics.
The Robotiq components (2-finger-85 gripper, FT-300 sensor) can be connected wirelessly to egomo. This is an advantage that's hard to understate especially when dealing with variable starting conditions and adaptive path-finding using the optimizer. With egomo you can utilize the full movement spectrum of your robot arm without the risk of tangling up or severing any cable connections.
A central component of egomo is our custom designed “Xamla IO Board” incl. a connected Raspberry Pi3. The board is equipped with 24V & 5V converters, a RGB LED, acceleration sensors (IMU), and a powerful ARM Cortex M4 microprocessor. Additional sockets on the side allow for connecting more sensors, like a IR Line-Laser diode for light section for 3D measurements or pressure sensors on the gripper. 2 sockets are specifically intended to connect a Robotiq gripper and Robotiq force-torque sensor. Controlling and reading the sensors, as well as controlling the LED, can be accomplished application-specific via ROS. The sensor head is connected to the robot arm's power supply via a y-splitter in the wrist joint.