Publication Details

Robotic Arm Controlling in ROS Environment

LUŽA, R.; ROZMAN, J.; ZBOŘIL, F. Robotic Arm Controlling in ROS Environment. CSSim. Brno: Brno University of Technology, 2012. p. 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.
Rozman Jaroslav, Ing., Ph.D. (DITS)
Zbořil František, doc. Ing., CSc. (DITS)

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

ISBN

978-80-214-4576-5

Publisher

Brno University of Technology

Place

Brno

BibTeX

@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"
}