Upravljanje UR robotom pomoću robotskog operativnog sustava ROS

undergraduate thesis

• Title (english): Control of a UR robot using the robot operating system ROS
• Author: Domagoj Pavić
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2022-07, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom se radu integriraju robotski sustavi za upotrebnu preko robotskog operativnog sustava
ROS. Cilj rada je osposobiti radno područje (eng. workspace) te uz pomoć ROS-ovih
integriranih softverskih biblioteka i alata upravljati robotom. Koristeći komunikaciju između
ROS-a i robota, te ugrađenu biblioteku Moveit pomičemo robota upravljajući njegovim
zglobovima ili tako što mu zadajemo kartezijske koordinate. Kamera, koja također komunicira
sa ROS-om, daje informacije o slici koji se onda obrađuju uz pomoć OpenCV-a na način da se
izdvoji željena boja, a potom se to očitanje koristi kako bi se predmetisortirali. Bitno je istaknuti
da se robot može pomicati i uz pomoć vlastite interakcijske jedinice, ali je prednost ROS-a što
može stvoriti bilo kakvo okruženje za robota sa proizvoljnom hvataljkom, te u jednu cjelinu
integrirati veliki broj segmenata.

Abstract (english)

In this work we integrate robotic systems so we can use them through the robotic operating
system ROS. The goal of this work is to create a workspace and use the integrated set of
software libraries and tools found inside ROS, that help us build robot applications. Using the
communication between ROS and our robot and the Moveit library we can move the robot by
controlling its joints or by giving it a set of cartesian coordinates. The camera, which is also
communicating with ROS, is updating the information about the image so that we can process
said image using OpenCV. Now that we have a processed image, we extract color data and
sort our objects based on that. It is important to note that the robot can be controlled with a
teach pendant, but the advantage of using ROS is that we can create any number of different
environments for the robot and its complementary gripper and to integrate a large number of
different segments.

• Keywords: UR5e; ROS; Moveit; python; OpenCV
• Keywords (english): UR5e; ROS; Moveit; python; OpenCV
• Language: croatian
• URN:NBN: urn:nbn:hr:235:061062
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2022-07-05 20:54:08