Implementation of pointing at objects with a robotic arm

Aleksandar Dovenski (2012) Implementation of pointing at objects with a robotic arm. EngD thesis.

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Abstract

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.

Item Type:

Thesis (EngD thesis)

Keywords:

Robot Operating System, ROS, Katana, robot, robotic arm, Gazebo, Kinect, inverse kinematics, forward kinematics, point cloud

Number of Pages:

Language of Content:

Slovenian

Mentor / Comentors:

Name and Surname	ID	Function
doc. dr. Danijel Skočaj	296	Mentor

Link to COBISS:

http://www.cobiss.si/scripts/cobiss?command=search&base=50070&select=(ID=00009514068)

Institution:

University of Ljubljana

Department:

Faculty of Computer and Information Science

Item ID:

1887

Date Deposited:

09 Oct 2012 13:52

Last Modified:

16 Nov 2012 12:39

URI:

http://eprints.fri.uni-lj.si/id/eprint/1887

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