Razvoj ROS programskega paketa in storitve za izračun inverzne kinematike robota

PURG, JAKOB (author), Podobnik, Janez (mentor), Ude, Aleš (co-mentor)

V pričujočem delu je predstavljen razvoj ROS programskega paketa in storitve, s katero lahko izračunamo inverzno kinematiko robota. Gre za univerzalni paket, kar pomeni, da je prenosljiv na večino robotskih sistemov, ki so adaptirani v programskem okolju ROS. V uvodnih poglavjih je predstavljena osnovna problematika ter vzroki razvoja takšnega paketa. Nato je predstavljena še programska oprema kot so gradniki programskega okolja ROS in pristop stalne integracije. V nadaljnjih poglavjih je predstavljen razvoj ROS programske storitve, ki smo jo razvili glede na funkcionalne zahteve. Storitev pri izračunu inverzne kinematike omogoča izbiro različnih koordinatnih sistemov, leg ter začetnih sklepov. Programski paket je vključen v okolje v sistemu ROS, ki omogoča avtomatično testiranje. Delovanje programskega paketa smo testirali na dveh robotih, pridobljeni rezultati pa so pokazali smiselnost uporabe takšnih programskih paketov.

• Language: Slovenian
• Keywords: ROS, storitev, paket, inverzna kinematika
• Work type: Bachelor thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2019
• PID: 20.500.12556/RUL-110071
• Publication date in RUL: 11.09.2019

Secondary language

• Language: English
• Title: Development of ROS package and service for calculating robot inverse kinematics

Abstract

This thesis describes the development of ROS package and service for calculating inverse kinematics of a robot. The developed package is universal, which means that it can be transfered to most of the robotics systems that are supported in ROS. Introductory chapters describe basic problems and reasons of developing such package. Further software as ROS and continous integration is described. Developement of this ROS package is described further chapters. Development started with functional requirements of which package offers selection of frames, poses and initial joints. The developed supports continous integration with the public infrastructure to run automated validation tests. The package was tested on two robots and results showed that this kind of package usage is meaningfull.

• Keywords: ROS, service, package, inverse kinematics