文章基本信息

标题：Manipulation and Path Planning for KUKA (LWR/ LBR 4+) Robot in a Simulated and Real Environment
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作者：Tarwadi Parag Jitendra ; Arockia A. Selvakumar ; Juan Antonio Corrales Ramon 等
期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2017
卷号：11
期号：3
页码：15
DOI：10.14313/JAMRIS_3-2017/24
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：Robotics has accomplished its greatest triumph to date inthe world of industrial manufacturing and academia. Thiswork aims to perform path planning using a KUKA (LWR/LBR 4+) robot platform as well as a simulator to grasp theobject. This whole implementation will be carried out ina ROS environment with Ubuntu (Linux) as an operatingplatform. The KUKA (LWR/ LBR 4+) has 7 degrees of freedomwith several joints and linkages. It uses KR C2 LR asthe main hardware controller. The robot gets visual informationof an object by Microsoft Kinnect RGB-D cameraand carries out necessary actions to clasp the object usinga shadow hand and Barrett hand. The simulation andmanipulation of robot gantry is performed by using C++and python as a programming language. The bilateral robotplatform and main PC hub are linked together by usingEthernet cable. The obtained results from the currentresearch are found to be satisfactory and can be provenbeneficial for researcher as a reference.
关键词：ROS (Indigo); motion planning; moveIt simulation;OMPL; robotics; KUKA LWR robotic arm