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Design and implementation of the 6-DoF robotic manipulator using robot operating system | ||
| International Journal of Nonlinear Analysis and Applications | ||
| دوره 12، Special Issue، اسفند 2021، صفحه 1753-1760 اصل مقاله (834.32 K) | ||
| نوع مقاله: Research Paper | ||
| شناسه دیجیتال (DOI): 10.22075/ijnaa.2021.5882 | ||
| نویسندگان | ||
| B. Vinod* 1؛ B. Bindu1؛ G. N. Koushik Karan2؛ V. E. Jayanth Akash2؛ S. Dinesh Kumar2 | ||
| 1Faculty at Department of Robotics and Automation, PSG College of Technology, India | ||
| 2Department of Robotics and Automation Engineering, PSG College of Engineering, India | ||
| تاریخ دریافت: 27 مرداد 1400، تاریخ بازنگری: 05 آبان 1400، تاریخ پذیرش: 02 آذر 1400 | ||
| چکیده | ||
| Material handling robots are replacing human workers in most of the manufacturing shop floors. Robot operating system is an open-source framework that enables visualization and implements various complex robots and their functions. A 6-DoF robotic manipulator with a gripper is designed to perform the pick and place operations. The aim is to integrate the designed robot with the robot operating system. The integrated system is then visualized and controlled using a gazebo and RViz to perform pick and place operations. | ||
| کلیدواژهها | ||
| Robotic manipulator؛ Pick and place؛ Robot operating systems؛ Motion planning | ||
| مراجع | ||
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[1] N. Bratovanov, Robot modeling, motion simulation, and off-line programming based on solidWorks API, Third IEEE Int. Conf. Robotic Comput. 2019. [2] A. Candeias, T. Rhodes, M. Marques and M. Veloso, Vision augmented robot feeding, Proc. European Conf. Computer Vision (ECCV) Workshops (2018) pp. 50–65. [3] S. Chitta, MoveIt!: An Introduction, Robot Operat. Syst. (2016) 3–27. [4] A. Farooqi, N.B. Yusoff and L.S. Chung, Automatic pick-and-place packaging system with vacuum lifter, IOP Conf. Ser. Materials Sci. Engin. 697 (1) (2019) pp. 012008. [5] S. Hernandez-Mendez, C. Maldonado-Mendez, A. Marin-Hernandez, H.V. Rios-Figueroa, H. Vazquez-Leal and E.R. Palacios-Hernandez, Design and implementation of a robotic arm using ROS and MoveIt!, IEEE Int. Autumn Meeting on Power, Electronics and Computing (ROPEC) 2017. [6] H.R. Kam, S.H. Lee, T. Park and C.H. Kim, RViz: a toolkit for real domain data visualization, Telecommun. Syst. 60(2) (2015) 337–345. [7] N. Koenig and A. Howard, Design and use paradigms for gazebo, an open-source multi-robot simulator, IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS) (IEEE Cat. No.04CH37566), 2004. [8] E. Mingo Hoffman, S. Traversaro, A. Rocchi, M. Ferrati, A. Settimi, F. Romano and N.G. Tsagarakis, Yarp Based Plugins for Gazebo Simulator, Lecture Notes in Computer Science, 2014. [9] S. Putz, T. Wiemann and J. Hertzberg, Tools for visualizing, annotating, and storing triangle meshes in ROS and RViz, European Conf. Mobile Robots 2019. [10] M. Quigley, K. Conley, B. Gerkey, J. Faust, T. Foote, J. Leibs, R. Wheeler and A.Y. Ng, ROS: an open-source robot operating system, ICRA Workshop on Open Source Software 3 (2) (2009). [11] A.D. Souza, S. Vijayakumar and S. Schaal, Learning inverse kinematics, IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the Next Millennium (Cat. No.01CH37180). 2001. [12] Y. Zhang, B.K. Chen, X. Liu and Yu Sun, Autonomous robotic pick-and-place of microobjects, IEEE Trans. Robot. 26(1) (2010) 200–207. | ||
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