A ROS-based Workspace Control and Trajectory Planner for a seven degrees of freedom Robotic arm

Santoni, Alessandro (2016) A ROS-based Workspace Control and Trajectory Planner for a seven degrees of freedom Robotic arm. [Laurea], Università di Bologna, Corso di Studio in Ingegneria dell'automazione [L-DM270]
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In this Bachelor Thesis I want to provide readers with tools and scripts for the control of a 7DOF manipulator, backed up by some theory of Robotics and Computer Science, in order to better contextualize the work done. In practice, we will see most common software, and developing environments, used to cope with our task: these include ROS, along with visual simulation by VREP and RVIZ, and an almost "stand-alone" ROS extension called MoveIt!, a very complete programming interface for trajectory planning and obstacle avoidance. As we will better appreciate and understand in the introduction chapter, the capability of detecting collision objects through a camera sensor, and re-plan to the desired end-effector pose, are not enough. In fact, this work is implemented in a more complex system, where recognition of particular objects is needed. Through a package of ROS and customized scripts, a detailed procedure will be provided on how to distinguish a particular object, retrieve its reference frame with respect to a known one, and then allow navigation to that target. Together with technical details, the aim is also to report working scripts and a specific appendix (A) you can refer to, if desiring to put things together.

Tipologia del documento
Tesi di laurea (Laurea)
Autore della tesi
Santoni, Alessandro
Relatore della tesi
Correlatore della tesi
Corso di studio
Automation Engineering
Ordinamento Cds
Parole chiave
SHERPA EU Project,7DOF Manipulator,ROS,MoveIt!,OctoMap,Obstacle Avoidance,Target Recognition
Data di discussione della Tesi
15 Luglio 2016

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