In contemporary practice, the collaboration of multiple robots is becoming increasingly commonplace. This thesis presents a detailed examination of an interesting idea: the integration of a robotic arm and a mobile robot into a singular, cohesive unit capable of coordinated action. The process encompasses the assembly of the robotic arm, its physical incorporation into the mobile robot, and an introduction to the fundamental principles governing the movement and programming of such an integrated robotic system. Our work ventures into programming aspects such as inverse kinematics and inter-robot communication, employing the Arduino environment for controlling the robotic arm. Meanwhile, the Robot Operating System (ROS) serves as the medium for facilitating communication between the robotic arm and the TurtleBot mobile robot platform. Moreover, this thesis explores the potential application of simulators in robot programming. The findings of our research indicate that the integration of these robots is possible with the chosen methodology. However, it's worth noting that while the Arduino platform provides an accessible means for robot programming, it does present certain constraints, particularly with complex mathematical operations.
|
