CREEM2024

CREEM 2024 - XXX Congresso Nacional de Estudantes de Engenharia Mecânica

PROGRAMAÇÃO DE MOVIMENTOS DO MANIPULADOR OPENMANIPULATOR-X USANDO ROS

Submission Author: Fabian Andres Lara-Molina , MG , Brazil
Co-Authors: Milena Krauss, Guilherme Nascimento, Fabian Andres Lara-Molina
Presenter: Fabian Andres Lara-Molina

doi://10.26678/ABCM.CREEM2024.CRE2024-0022

 

Abstract

Currently, several manipulators are inserted into our daily lives to perform tasks in unstructured environments, such as logistics, domestic environments and even disaster rescue. Programming the movements of the manipulators to perform different tasks allows adaptability in different scenarios. Therefore, the objective is to implement the programming of OpenManipulator-X movements in Python, as well as analyze and compare the response obtained by numerical simulation and data from the experimental prototype of the system. With this in mind, ROS (Robotic Operational System) was used, a collaborative framework that brings together libraries and tools to facilitate software development in the area of robotics. openMANIPULATOR-X is an articulated arm hardware with 5 degrees of freedom, controlled by packages in simulation. The methodology was evaluated through computer simulation showing the simulation of the manipulator's movements.

Keywords

Robotics, Robotic manipulators, Programming, Robotic Operational System

 

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