Publication Details
Robotic Arm Controlling in ROS Environment
CrusCrowler Arm; ROS; inverse kinematics; OpenRAVE; RRT
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.
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.
@inproceedings{BUT97031,
author="Radim {Luža} and Jaroslav {Rozman} and František {Zbořil}",
title="Robotic Arm Controlling in ROS Environment",
booktitle="CSSim",
year="2012",
pages="61--66",
publisher="Brno University of Technology",
address="Brno",
isbn="978-80-214-4576-5"
}