June 24, 2017
June 24, 2017
June 28, 2017
Automation and robotics are the growing phenomena replacing human labor in the industries. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing advanced capabilities for various types of robots from an operating system to low-level control.
We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) through ROS to accomplish the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. This system along with the approaches proposed in this work has potential to be used as a demonstration testbed for students to learn ROS with control theories in robotics.
Khan, K. A., & Ryu, J. (2017, June), ROS-based Control of a Manipulator Arm for Balancing a Ball on a Plate Paper presented at 2017 ASEE Annual Conference & Exposition, Columbus, Ohio. 10.18260/1-2--28809
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