Control of a Custom Urdf Robotic Arm in Ros
| Parent link: | Problems of Informatics, Electronics and Radio Engineering (PIERE): Proceedings of the 2024 IEEE 3rd International Conference, Novosibirsk, Russian Federation, November 15-17, 2024/ IEEE Russia Siberia Section. P. 600-603.— : IEEE, 2024.— https://doi.org/10.1109/PIERE62470.2024 |
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| Summary: | This paper presents a method for controlling a custom robotic arm modeled in the Unified Robot Description Format (URDF) within the Robot Operating System (ROS) framework. The focus is on configuring controllers and implementing motion planning algorithms to enable the robotic arm to perform complex manipulation tasks, such as precise object handling through trajectory execution. We cover the integration of a custom URDF model with ROS controllers, trajectory planners, and simulation tools like RViz and Gazebo, creating a cohesive environment for robotic control. Challenges encountered in setting up controllers, correcting joint movement directions, and ensuring accurate simulation results are analyzed, providing insight into overcoming common issues in joint trajectory controller configuration. This work serves as a practical guide for developers and researchers aiming to establish control over custom robotic systems, detailing step-by-step solutions for handling configuration problems, controller integration, and trajectory planning within ROS. The successful implementation of these methods is essential for achieving reliable and accurate real-world robotic control, enabling complex manipulation tasks in various robotic applications. This contribution aims to facilitate advanced control strategies for custom robotic systems, promoting innovation and reliability in robotic manipulation Текстовый файл AM_Agreement |
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2024
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| Online Access: | https://doi.org/10.1109/PIERE62470.2024.10805061 |
| Format: | Electronic Book Chapter |
| KOHA link: | https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=678400 |