June 14, 2015
June 14, 2015
June 17, 2015
26.1024.1 - 26.1024.18
Introducing Kinematics with Robot Operating System (ROS)The study of Kinematics is essential to Robotics. A robot, to perform most applications needs to processpositional data and transform data from one frame of reference to another. Robots have sensors, links andactuators each with its own frame of reference, so transformations between reference frames can be quitetedious. Traditionally Kinematics for robots is introduced to students with MatLab and the Robotic Toolbox. Inthis paper we examine the introduction of Kinematics for robotics with the features and tools available in the opensource Robot Operating System (ROS). ROS implements tools for Kinematics transforms (tf) as a key part of theROS Core Libraries. ROS defines robots with the Unified Robot Description Format (URDF) standardbased upon Extensible Markup Language (XML). URDF is in many respects similar to Denavit-Hartenberg (D-H) Convention, but with significant additional enhancements.We choose to introduce the Electronic Engineering Technology (EET) students to Kinematics and ROS so theywould have greater insight into engineering projects involving robotics. We also found that using ROS in roboticsprojects not only makes the projects more interesting to students but, gives students an authentic experience withdistributive systems and odometry sensors. Kinematics for robots uses Linear Algebra, Matrices, Naturallogarithms (Euler’s equation), Imaginary numbers and Trigonometry. The areas of mathematics we used tointroduce kinematics for robotics to EET students are very similar to the mathematics to understand electricity,electric fields and circuit theory. We emphasize matrix operations, operations involving Triaminic functions andimaginary numbers. This paper summarizes the result of this approach.
Yousuf, A., & Lehman, C. C., & Mustafa, M. A., & Hayder, M. M. (2015, June), Introducing Kinematics with Robot Operating System (ROS) Paper presented at 2015 ASEE Annual Conference & Exposition, Seattle, Washington. 10.18260/p.24361
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