Four-Degree Free Spheric Morphology Robotic Arm for Manipulation of Objects by Means of Platform Robotic Operating System (ROS)

Abstract:

The present investigation project was intended to evaluate the free software platform Robotic Operating System (ROS) for the control of a robotic arm with spheric morphology, the method that was used is an applied research since it focuses specifically on how they can carry out the general theories for new designs of a robotic manipulator and also the level of accuracy was measured offering an equipment that allowed us to have a clear view and understanding the function and application of robotic theories, such as: inverse and direct kinematics and their different control techniques. The robotic manipulator has a final for pick and place processes. The efficiency of the robot was determined by controls on the platform ROS, with excellent results. The efficiency of the software and the control methods were also shown.

Año de publicación:

2020

Keywords:

• Direct kinematics
• Spheric robot
• inverse kinematics
• Robotic manipulator
• ROS

Fuente:

scopus