The ABB YuMi (IRB14000) is a dual arm collaborative robot where each arm has seven degrees of freedom. The extra degree of freedom compared to conventional industrial robots makes it harder to control because of the infinite number of ways to reach the same pose. Using the same interfaces as conventional industrial robots makes it hard for the user to understand how to make use of the new collaborative features as well as the new grippers with built-in cameras, fingers and vacuum cups.
To make the use of YuMi simpler, YuMiLib was created and developed by the previous Collaborative Robot Test Center (CRTC) in Västerås in collaboration with Cognibotics. YuMiLib helps the user shorten the setup phase and facilitates robot programming. It includes both automatic calibration of the grippers and cameras as well as RAPID library functions and Teach Pendant functionality for easier robot programming. It also helps the user with specialized features such as pick and place, locating objects using the cameras, and optimized gripper movements.
YuMiLib remains an internal package of ABB, yet the knowledge gained from developing it is invaluable for enhancing Cognibotics' upcoming robotics solutions. This expertise is particularly beneficial in projects such as the CAISA surgery-assistant initiative, which incorporates YuMi arms and is conducted in collaboration with former YuMi developers from Cobotic AB.
