Thesis Details

Real-time řízení robota Melfa pomocí ROS

Bachelor's Thesis Student: Liška Jakub Academic Year: 2020/2021 Supervisor: Rozman Jaroslav, Ing., Ph.D.
English title
Real Time Melfa Controlling Using ROS
Language
Czech
Abstract

The goal of this bachelor thesis is to explore the possibilities of controlling the industrial robotic arm Mitsubishi Melfa RV-6SL using ROS (Robot Operating System) and the subsequent implementation of this knowledge into a functional application. This work describes to the reader not only the theoretical foundations of the work, but also how to create the configuration packages needed to simulate the robotic arm in the simulation environment Gazebo, as well as real-time control of the real robotic arm. The text also describes path planning using the MoveIt library, based on poses of robotic arm selected in the Rviz visualization environment.

Keywords

Mitsubishi, Melfa, RV-6SL, ROS, MoveIt, Gazebo, Rviz, realtime, path planning, robotic arm, manipulator

Department
Department of Intelligent Systems FIT BUT
Degree Programme
Information Technology
Files
Status
defended, grade B
Date
15 June 2021
Reviewer
Janoušek Vladimír, doc. Ing., Ph.D.
Committee
Zbořil František, doc. Ing., Ph.D. (DITS FIT BUT), předseda
Hradiš Michal, Ing., Ph.D. (DCGM FIT BUT), člen
Kekely Lukáš, Ing., Ph.D. (DCSY FIT BUT), člen
Rogalewicz Adam, doc. Mgr., Ph.D. (DITS FIT BUT), člen
Veselý Vladimír, Ing., Ph.D. (DIFS FIT BUT), člen
Citation
LIŠKA, Jakub. Real-time řízení robota Melfa pomocí ROS. Brno, 2021. Bachelor's Thesis. Brno University of Technology, Faculty of Information Technology. 2021-06-15. Supervised by Rozman Jaroslav. Available from: https://www.fit.vut.cz/study/thesis/23758/
BibTeX 
@bachelorsthesis{FITBT23758,
    author = "Jakub Li\v{s}ka",
    type = "Bachelor's thesis",
    title = "Real-time \v{r}\'{i}zen\'{i} robota Melfa pomoc\'{i} ROS",
    school = "Brno University of Technology, Faculty of Information Technology",
    year = 2021,
    location = "Brno, CZ",
    language = "czech",
    url = "https://www.fit.vut.cz/study/thesis/23758/"
}

Theses

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