Design and Development of Multiple Mobile Manipulator Robots using Gazebo-ROS

Anggraeni, Pipit; Rokhim, Ismail; Salam, Rudi

doi:10.1109/icast51016.2020.9557660

Cited by 9 publications

(2 citation statements)

References 11 publications

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“…Bu sebeple GAZEBO ortamına tasarımlar aktarılarak simülasyon üzerinden yazılım geliştirilmiştir [18]. GAZEBO'ya erişim sağlamak için ROS kullanılmaktadır [22]. Şekil 10'da robotun GAZEBO ortamında çalışması gösterilmiştir.…”

Section: Robotun Gazebo Ile Simülasyonun Yapılmasıunclassified

Dört Bacaklı Robotun Gerçek Zamanlı PID Kontrolü

Güvenç¹,

Yentür²,

Yıldız³

et al. 2022

acperpro

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Bu çalışmada son dönemde teknoloji dünyasında örneklerini sıklıkla gördüğümüz 12 aktüatörden oluşan dört bacaklı robot tasarımı yapılmıştır. Robot tasarımında ileri ve ters kinematik hesaplamaları kullanılırken robotun yürüyüş kontrolü PID ile gerçekleştirilmiştir. Kinematik denklemi üç serbestlik dereceli robot kol analizinin denklemleri çıkartılmıştır. Bu denklemlere göre bir sürücü yazılarak servo motorların kontrolü sağlanmıştır. Sistemde işlem kapasitesi ve uzaktan kontrol imkânı sebebiyle JETSON Nano kartı kullanılmıştır. Robotun kontrolü için basit bir mobil uygulama tasarlanarak Wi-Fi üzerinden cep telefonu ile kontrol edilebilir hale getirilmiştir. Sistemin yazılım geliştirmesi safhası için GAZEBO programı üzerinden simülasyonu yapılarak sistem optimize edilmiştir. Aynı zamanda sistem ROS (Robot İşletim Sistemi) yazılımı ile gerçekleştirilerek kontrolü daha yalın hale getirilerek kullanımı kolaylaştırılmıştır.

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Section: Robotun Gazebo Ile Simülasyonun Yapılmasıunclassified

Dört Bacaklı Robotun Gerçek Zamanlı PID Kontrolü

Güvenç¹,

Yentür²,

Yıldız³

et al. 2022

acperpro

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show abstract

“…Gazebo offers the ability to simulate populations of robots accurately and efficiently in complex indoor and outdoor environments [63]. It is used in many research studies in the autonomous mobile robot field [64], [65], [66].…”

Section: B Gazebomentioning

confidence: 99%

Strategies for Cooperative Energy Distribution on Multi-Robot Warehouse Systems

Al-Gafari¹

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Autonomous mobile robots are one of the new and innovative ways to improve operation in industries such as warehouses, logistic companies, agricultural businesses, healthcare institutions, and a lot more. They are known for their operational improvement, safety, efficiency, and speed, automating several functionalities so they can be performed with little or no human intervention.These advantages can only be realized, however, if the degree of autonomy suffices for the task at hand. Whilst many degrees of autonomy exist (e.g., functional autonomy), in this thesis we are primarily concerned with an aspect of non-functional autonomy: energy. One of the important features of an autonomous robot system is the capability to charge autonomously with little to no human intervention. This thesis examines the energy distribution problem on multi-robot warehouse systems. We model warehouse systems where robots charge autonomously, pausing their workload when needed, to charge at a station. Depending on specific execution, it is possible that robots fully deplete their energy before arriving at a charging station, decreasing total work achieved, and becoming an obstacle on the warehouse floor. We then introduce the concept of energy sharing, where robots are capable of charging one another, essentially becoming mobile charging stations.In this context, the problem of energy distribution becomes a problem of multi-agent collaboration.We analyze the impact of our solution on a multi-agent simulation, showing that energy sharing for autonomous mobile robots in warehouse systems reduces the total number of depleted robots and contributes to increasing the amount of work performed.

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Redundancy resolution of a mobile manipulator using the KSOM based learning algorithm

Deme Tolossa,

Gupta,

Orlando

et al. 2024

Int J Intell Robot Appl

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A learning-based strategy for the trajectory tracking of redundant mobile manipulators (MM) was presented in this study. A five-degrees-offreedom (DOF) manipulator is mounted on the differential drive (DD) mobile robot. The advantage of using a redundant system is to avoid joint limits, obstacles and singularities towards desired trajectory tracking. The proposed approach is based on Kohonen Self-Organizing Map (KSOM) enhanced a weighted least norm (WLN) matrix algorithm. This approach is the recommended neural network for inverse kinematics solutions because of its stability, preserved topology, and capacity to optimize the joint space trajectory while producing a smooth minimal joint angle. A proposed method for redundancy resolution in MM has been simulated using MATLAB simulation code and the Gazebo real-time simulation pysical environment. The simulation results are evaluated with the joint limit method of redundancy resolution and other existing controllers for verification purpose. The conventional method of redundancy resolution is local optimum and infeasible for the end-effector motion in the entire workspace. The KSOM uses different steps of error correction that improve the system's performance as well as ensure the global asymptotical stability of the system.

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Design and Development of Multiple Mobile Manipulator Robots using Gazebo-ROS

Cited by 9 publications

References 11 publications

Dört Bacaklı Robotun Gerçek Zamanlı PID Kontrolü

Dört Bacaklı Robotun Gerçek Zamanlı PID Kontrolü

Strategies for Cooperative Energy Distribution on Multi-Robot Warehouse Systems

Redundancy resolution of a mobile manipulator using the KSOM based learning algorithm

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