Simulation and Analysis of the Movement of a Group of Mobile Robots in ROS

Zenkevich, S. L.; Nazarova, Anaid V.; Zhu, Hua

doi:10.17587/mau.18.317-320

Cited by 2 publications

(1 citation statement)

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“…In order to map between the coordinate information of the object in the three-dimensional space and the pixel information in the image, the camera was calibrated by this method [18]. Reference [19] connects the robot system and the vision system through eye-to-hand calibration, and then obtains the three-dimensional coordinates of the object in the robot base coordinate transformation, and completes the grasping task of the robot [20,21]. The deep learning was focussed for robot grasping in the literature from the aspect of robot grasping research [13,22].…”

Section: Introductionmentioning

confidence: 99%

Cartesian space robot manipulator clamping movement in ROS simulation and experiment

Zhou

Zhao

2021

Applied Mathematics and Nonlinear Sciences

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This paper studies the robot arm sorting position control based on robot operation system (ROS), which works depending on the characteristics of the robot arm sorting operation using the top method, to automate the sorting operation and improve the work efficiency of workpiece sorting. Through the ROS MoveIt! module, the sorting pose and movement path of the robotic arm are planned, the inverse kinematics of the sorting robotic arm is solved, and the movement pose characteristics of the sorting robotic arm are analysed. The robot arm model was created using Solidworks software, and the URDF model file of the robot arm was exported through the sw2urdf plugin conversion tool, and the parameters were configured. Based on ROS for 6-degree-of-freedom (DOF) robot motion simulation, random extended tree (RRT) algorithm from open motion planning library (OMPL) is selected. The robot motion planning analysis and sorting manipulator drive UR5 manipulator. The results show that the sorting pose and motion trajectory of the robot arm are determined by controlling the sorting pose of the sorting robot arm, and the maximum radius value of the tool centre point (TCP) rotation of the robot arm and the position of the workpiece are obtained. This method can improve the success rate of industrial sorting robots in grabbing objects. This analysis is of great significance to the research of robots’ autonomous object grabbing.

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Section: Introductionmentioning

confidence: 99%

Cartesian space robot manipulator clamping movement in ROS simulation and experiment

Zhou

Zhao

2021

Applied Mathematics and Nonlinear Sciences

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Control Algorithms for a Bidirectional Wireless Power Transmission System at the Redistribution of Energy Resources in a Group of Ground Robots

Krestovnikov

2023

Mehatronika, avtomatizaciâ, upravlenie

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Redistributing energy resources within a group of ground robots allows for an increase in the reachable workspace area and expands its functional capabilities. The use of wireless energy transfer systems for exchanging energy resources between ground robots reduces the requirements for positioning accuracy and enhances the reliability of the robotic system. This study examines control and management algorithms for a bidirectional wireless energy transfer system when operating as part of a ground robot. A structural diagram of the bidirectional wireless energy transfer module is proposed for integration into the robot’s control system, built on distributed principles. The developed algorithms take into account the specific features of the circuitry solutions of the bidirectional wireless energy transfer system, implemented using an uncontrolled resonant generator. The proposed solutions are tested on a robotics platform. The experiments focus on the process of replenishing the energy resources of one robot with another robot. Energy is transmitted between robots equipped with the same Li-ion battery, which has a nominal voltage of 7.4 V and a capacity of 5 A•h. The battery is charged from 50 % to 90 % capacity with different positioning accuracies of the robots. When there is a displacement of 4 mm and a distance of 4 mm between the receiving and transmitting coils, the charging time was 48 minutes, which is 5 % longer than the wired charging method. The maximum charging time reached 57 minutes with a distance of 15 mm between the robots. The use of bidirectional wireless power transfer for energy exchange between ground robots or for charging robots at a charging station enhances the autonomy of the group’s operation, as energy transfer can be successfully achieved even with low positioning accuracy. The proposed solutions can be used for battery charging and resource redistribution processes in groups of ground and underwater robots.

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Simulation and Analysis of the Movement of a Group of Mobile Robots in ROS

Cited by 2 publications

References 0 publications

Cartesian space robot manipulator clamping movement in ROS simulation and experiment

Cartesian space robot manipulator clamping movement in ROS simulation and experiment

Control Algorithms for a Bidirectional Wireless Power Transmission System at the Redistribution of Energy Resources in a Group of Ground Robots

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