Path Planning and Path Optimization for Industrial Robots Using Moveit! and ROS Melodic

Format:

Book

Conference/Event

Author/Creator:

Palchaudhary, Sanket, author.

Contributor:

Narvekar, Nishant

Siddiqui, Osama

Conference Name:

WCX SAE World Congress Experience (2022-04-05 : Detroit & Online, Michigan, United States)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2022

Summary:

This research paper is entitled "Path planning and path optimization for industrial robots using Moveit! and ROS Melodic". The main objective of the research is to analyze the performance of pick and place operations of the Techman robot TM5-700, to understand ROS melodic basics, use Moveit for initializing motion planning and implementing various algorithms for path optimization. The paper also aims to analyze the safe and efficient collaboration of the robot with human workers and compilable technology. Traditionally, movement of robots is needed to be observed on a timely basis to avoid any mishaps. The challenge, therefore, is to not only create a system that does not create mishappenings, but also create a system that is independent of human interference.The robot is thus designed to communicate to the ROS Master via services and will respond to the commands given to it through a Python program which initiates a node, communicates with the robot system and guides its motion. The program is integrated with the real-life Techman robot. The Moveit classes such as MoveGroupCommander class, PlanningSceneInterface class, and RobotCommander class were used while developing the pick and place pipeline. The robot is imported into a gazebo simulation platform and a world replicating industrial platform is created. Various .XML and .launch files are created for editing and creating the environment. We only need to manually analyze and input different joint values, checking for collisions and planning the path for the robot. We let MoveIt do the job, we just have to input the URDF file into the setup assistant and then MoveIt does the work. This not only saves time and avoids any accident due to error but is also economic and makes the entire manufacturing process even more economically beneficial

Notes:

Vendor supplied data

Publisher Number:

2022-01-0348

Access Restriction:

Restricted for use by site license