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Robot Simulation

This document discusses the simulation of a robotic arm in ROS. It aims to simulate grasping, trajectory planning, and pick and place operations. The simulation will model the robot's kinematics and dynamics using URDF files in Gazebo. It will generate waypoints and trajectories for the arm using RRT path planning and MoveIt. Current work involves communication between ROS packages and simulating the arm. Remaining tasks include hardware interfacing, grasping simulation, and applying dynamic loads in Gazebo.

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Ameya Virkud
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141 views

Robot Simulation

This document discusses the simulation of a robotic arm in ROS. It aims to simulate grasping, trajectory planning, and pick and place operations. The simulation will model the robot's kinematics and dynamics using URDF files in Gazebo. It will generate waypoints and trajectories for the arm using RRT path planning and MoveIt. Current work involves communication between ROS packages and simulating the arm. Remaining tasks include hardware interfacing, grasping simulation, and applying dynamic loads in Gazebo.

Uploaded by

Ameya Virkud
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Robotic Simulation

Software basis of the robot


Introduction
This sub-module of the project deals with the simulation of motion of robot in
the presence of static object placement.
The module primarily focusses on using pre-existing solutions for
implementation, being applied to custom design.
Kinematics and dynamics of the robot is of primary concern.
Motivation
Advantages of ROS:
Provides abstraction hence shifting from one design to a different one is easier.
Conventions and protocols help in keeping the workspace of robot modular in functionality.
Softwares such as RViz, MoveIt and Gazebo have extensively developed API for interfacing
with robot.
Literature Survey:
Mastering ROS for Robotics Programming : This book aids in fundamental understanding of
ROS architecture and subsequent understanding of various above mentioned softwares.
Introduction to Robotics: Mechanics and Control by John J Craig : For understanding the DH
convention representation of Robot and forward kinematics and inverse kinematics.
Objectives of the exercise
The simulation has three fold objectives:
The purpose is to simulate the processes of grasping and creating trajectories for
sliding and pick and place.
The simulation produces the planning path and joint accelerations and velocities
for calculation of effort.
The simulation also provides packages for real hardware interfacing. The
processing of joint values and raw images from the object identification algorithm.
Process (Visualisation of Robot)
The first job was to choose the platform for creating simulations and
simultaneously create backup for kinematics of the robot.
The URDF of the robot was created using only primitives and the URDF was
then used to generate additional files for kinematic solution planning.
Matlab interface was tried to provide testing platform for controls and
kinematic solutions.
Currently a 3 DOF arm is produced with links of different inertia.
A snip of the code is shown in next slide:
Kinematics and dynamics of Robot
Analytical solution for 3-DOF arm has been generated and tested using:
Waypoint Generation
Details of the trajectory path can be obtained for a translating to a particular, a
snapshot of a waypoint description of movement of robot from its original position
to a position of :0.16,0.12,2.33 in the frame of reference of base link.
positions: [0.10014551221842302, 0.2178672469882867, 1.7660553833418764]
velocities: [0.015222228822740835, 0.033214828587172576, 0.2697640434502649]
accelerations: [-0.05600594596520207, -0.1222046992433586, -0.9925215693945678]
time_from_start:
secs: 3
nsecs: 805271578

The target of the robot is 0.16,0.12,2.33


RRT Connect Algorithm(for navigation and local
control)
Current Work Status
Communication within ROS and its packages is of prime importance and the
several messages that are sent by softwares have a degree of abstraction.
With our current capabilities we can:

1 2 3
RQT Graph with MoveIt and RViz
Glimpse of Robotic arm reaching the box position
Tasks yet to complete

Hardware Interfacing: Creating Grasping messages and


Configuration files of MoveIt will gripper:
have to interact with data from For gripping operation and pick
sensors. and place, the points where robot
grasps the object have to be
identified. Final Simulation

Applying dynamic loads on robot Receiving feedback from real time


in gazebo simulator. system and creating nodes and
topics for typical feedbacks.

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