Using a robot operating system to simulate the capture of a known object under known conditions

Authors: Gulnyashkin A.A., Sokolov N.A.
Published in issue: #5(58)/2021
DOI: 10.18698/2541-8009-2021-5-697
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: Robot Operating System (ROS), MoveIt, Gazebo, RViz, URDF, manipulative robotics, object capture, simulation of control algorithms, trajectory planning
Published: 24.05.2021

The paper is devoted to the use of the Robot Operating System framework for the development of an algorithm for controlling the movement of a typical manipulation robot during the operation of gripping the manipulation object and modeling the operation of this algorithm, provided that both the object and the environment are known. A description is given of the stages of creating a robotic complex model in the form of URDF files. The control algorithm is implemented using MoveIt software. The results are presented of physical modeling of the robotic complex in the Gazebo modeling system, as well as trajectory planning and object capture using MoveIt.

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