Aleksandar Dovenski (2012) Implementation of pointing at objects with a robotic arm. EngD thesis.
The subject of the gradation thesis is pointing at an object with the robotic arm Katana. The robot autonomously detects the object in its environment, using a camera and points at it with his end effector. The system was developed in Robot Operating System, a software framework for developing robotics software. The robotic arm, alongside its environment, was simulated using Gazebo, a three-dimensional multi-robot simulator. The objects on the table were detected with the usage of the depth sensor Kinect, which provides depth data in the form of a point cloud. After the object is detected, the searches for an inverse kinematics solution to move the end effector towards the object, pointing at it. After such a solution is found, a motion planning algorithm for moving the robotic arm from its current state, to the desired one is run. Lastly, Gazebo plays the joints' trajectories, thus simulating the robotic arm's movements.
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