Manipulation and path planning for KUKA (LWR/ LBR 4+) robot in a simulated and real environment

• Autorzy: Jitendra T. P. , Doss A. S. A. , Ramon J. A. C.

Identyfikatory

DOI

10.14313/JAMRIS_3-2017/24

• Języki publikacji: EN

Abstrakty

EN

Robotics has accomplished its greatest triumph to date in the world of industrial manufacturing and academia. This work aims to perform path planning using a KUKA (LWR/ LBR 4+) robot platform as well as a simulator to grasp the object. This whole implementation will be carried out in a ROS environment with Ubuntu (Linux) as an operating platform. The KUKA (LWR/ LBR 4+) has 7 degrees of freedom with several joints and linkages. It uses KR C2 LR as the main hardware controller. The robot gets visual information of an object by Microsoft Kinnect RGB-D camera and carries out necessary actions to clasp the object using a shadow hand and Barrett hand. The simulation and manipulation of robot gantry is performed by using C++ and python as a programming language. The bilateral robot platform and main PC hub are linked together by using Ethernet cable. The obtained results from the current research are found to be satisfactory and can be proven beneficial for researcher as a reference.

Słowa kluczowe

EN

ROS; Indigo; motion planning; moveIt simulation; OMPL; robotics; KUKA LWR robotic arm

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2017
• Tom: Vol. 11, No. 3
• Strony: 15--21
• Opis fizyczny: Bibliogr. 25 poz., rys.

Twórcy

autor

Jitendra T. P.

• School of Mechanical and Building Sciences, VIT University, Chennai Campus Chennai, India

autor

Doss A. S. A.

• Mechatronics Research Group, School of Mechanical and Building Sciences, VIT University, Chennai Campus, Chennai, Tamil Nadu-600127, India

autor

Ramon J. A. C.

• Image, Systems of Perception, Robotics (ISPR), Institute Pascal, Clermont-Ferrand, France

Bibliografia

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017)