Publication Details

Robotic Arm Controlling in ROS Environment

LUŽA Radim, ROZMAN Jaroslav and ZBOŘIL František V.. Robotic Arm Controlling in ROS Environment. In: CSSim. Brno: Brno University of Technology, 2012, pp. 61-66. ISBN 978-80-214-4576-5.
Czech title
Řízení robotického ramene v prostředí ROS
Type
conference paper
Language
english
Authors
Luža Radim, Ing. (DITS FIT BUT)
Rozman Jaroslav, Ing., Ph.D. (DITS FIT BUT)
Zbořil František V., doc. Ing., CSc. (DITS FIT BUT)
Keywords

CrusCrowler Arm; ROS; inverse kinematics; OpenRAVE; RRT

Abstract

This article describes a solution of robotic arm control system running under Robotic Operating System (ROS). The article describes the structure and the principals of control system. In the article there are also briefly introduced used toolkits and technologies - namely SMACH, OpenRave and ROS Core.

Annotation

This paper deals with controlling of the small robotic arm CrusCrowler in Robot
Operating System (ROS). We have used various components available in ROS.
One of them is SMACH (State MACHine), that we have used for task planning
or OpenRAVE toolkit for controlling of the movements of the robotic manipulators.
OpenRAVE can provide tools for inverse kinematics and trajectory planning of the arm.
The goal of our work was to make the solution for controlling of the arm with described
tools work and test the quality of this solution.

Published
2012
Pages
61-66
Proceedings
CSSim
Conference
International Conference on Computer Modelling and Simulation - CSSim 2012, Brno, CZ
ISBN
978-80-214-4576-5
Publisher
Brno University of Technology
Place
Brno, CZ
BibTeX 
@INPROCEEDINGS{FITPUB10127,
   author = "Radim Lu\v{z}a and Jaroslav Rozman and V. Franti\v{s}ek Zbo\v{r}il",
   title = "Robotic Arm Controlling in ROS Environment",
   pages = "61--66",
   booktitle = "CSSim",
   year = 2012,
   location = "Brno, CZ",
   publisher = "Brno University of Technology",
   ISBN = "978-80-214-4576-5",
   language = "english",
   url = "https://www.fit.vut.cz/research/publication/10127"
}
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