Integration of ROS for the control of industrial robotic systems in a proprietary environment

Vitiello, Davide (2022) Integration of ROS for the control of industrial robotic systems in a proprietary environment. [Laurea magistrale], Università di Bologna, Corso di Studio in Automation engineering / ingegneria dell’automazione [LM-DM270], Documento full-text non disponibile
Il full-text non è disponibile per scelta dell'autore. (Contatta l'autore)


The paper deals with the integration of ROS, in the proprietary environment of the Marchesini Group company, for the control of industrial robotic systems. The basic tools of this open-source software are deeply studied to model a full proprietary Pick and Place manipulator inside it, and to develop custom ROS nodes to calculate trajectories; speaking of which, the URDF format is the standard to represent robots in ROS and the motion planning framework MoveIt offers user-friendly high-level methods. The communication between ROS and the Marchesini control architecture is established using the OPC UA standard; the tasks computed are transmitted offline to the PLC, supervisor controller of the physical robot, because the performances of the protocol don’t allow any kind of active control by ROS. Once the data are completely stored at the Marchesini side, the industrial PC makes the real robot execute a trajectory computed by MoveIt, so that it replicates the behaviour of the simulated manipulator in Rviz. Multiple experiments are performed to evaluate in detail the potential of ROS in the planning of movements for the company proprietary robots. The project ends with a small study regarding the use of ROS as a simulation platform. First, it is necessary to understand how a robotic application of the company can be reproduced in the Gazebo real world simulator. Then, a ROS node extracts information and examines the simulated robot behaviour, through the subscription to specific topics.

Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Vitiello, Davide
Relatore della tesi
Correlatore della tesi
Corso di studio
Ordinamento Cds
Parole chiave
ROS,robot,URDF,MoveIt,trajectory,planning,node,OPC UA,control
Data di discussione della Tesi
5 Ottobre 2022

Altri metadati

Gestione del documento: Visualizza il documento