A ROS-Gazebo Interface for the Katana Robotic Arm Manipulation

Authors

DOI:

https://doi.org/10.25079/ukhjse.v5n1y2021.pp26-37

Keywords:

ROS, Gazebo, Katana Arm, Robotic Systems, Katana Native Interface (KNI).

Abstract

Nowadays, simulators are being used more and more during the development of robotic systems due to the efficiency of the development and testing processes of such applications. Undoubtedly, these simulators save time, resources and costs, as well as enable ease of demonstrations of the system. Specifically, tools like the open source Robotic Operating System (ROS) and Gazebo have gained popularity in building models of robotic systems. ROS is extensively used in robotics due to the pros of hardware abstraction and code reuse. The Gazebo platform is used for visualisation because of its high compatibility with ROS. In this paper, ROS and Gazebo have been integrated to build an interface for the visualisation of the Katana Arm manipulator.

Downloads

Download data is not yet available.

Author Biography

  • Ibrahim Hamarash, Department of Computer Science and Engineering, University of Kurdistan-Hewler, Erbil, Iraq

    He is Professor of Computer Engineering at UKH. He has joined UKH in 2018. Before that, he was Professor of Electrical and Computer Systems Engineering at Salahaddin University. He received BSc in Electronics and Communication Engineering from the same university, MSc in Control Systems Engineering from Mosul University, and MRes degree in Computer Science from Staffordshire University (UK). His PhD in Control Systems Engineering from The University of Technology, his ICT project management certificate from UCSD, USA. During 2007, he was visiting postdoctoral researcher at Monash University (Australia) and has been awarded the Endeavor Medal from Australian Department of Education, Employment and Workplace Relations for his postdoctoral research in Control Systems.

    He is the co-founder of the Mobile Education Centre for Regeneration Energy and Automation (MECREA) with Karlsruhe University for Applied Science, Germany.  He founded Erbil Centre for Sustainable Development with Five Professors from Five International Universities to support  KRG projects. He is the founder and head of the Software Engineering Department at SU,2000-2004, Head of Electrical Engineering Department at SU,2007-2011. Vice President for Scientific Affairs and postgraduate studies,2011-2017, Dean of Engineering College at SU 2017-2018 before he moves to UKH in April 2018.

    He is the author of the first national Computer Dictionary (English-Kurdish), 1999, Computers (Textbook for year 7 and 8  students in Kurdistan Region, 2001, and the author of more than 40 scientific papers.  He served as the general chair and keynote speaker for many International Conferences in Kurdistan and abroad.

    In the industrial sector, he designed and supervised many  Electrical, Control, Computer and Software Projects for International agencies and companies between 1993-2011.

    He supervised 18 MSc. students, 5 PhD. students in the field of Electrical, Computer, Software Engineering and Information Technology. He is a member of Kurdistan Engineers Union, Iraqi Engineers Syndicate and IEEE.

References

Abbas, T. (2013). Forward Kinematics Modeling of 5 DOF Stationary Articulated Robots, Engineering and Technology Journal, 31(3), 500-512.
Chikurtev, D., Rangelov, I., Chivarov, N., Markov, E. & Yovchev, K., (2018). Control of Robotic Arm Manipulator Using ROS. Bulgarian Academy of Sciences - Problems of Engineering Cybernetics and Robotics, 69, 52-61.
Cousins, S. (2010). ROS on the PR2 [ROS Topics]. IEEE Robotics & Automation Magazine, 17(3), 23-25. doi: 10.1109/mra.2010.938502
Echeverria, G., Lassabe, N., Degroote, A., & Lemaignan, S. (2011). Modular open robots simulation engine: MORSE. 2011 IEEE International Conference on Robotics and Automation. doi: 10.1109/icra.2011.5980252
Festo MENA. Retrieved 10 January 2019, from https://www.festo.com/cms/en-jo_jo/index.htm
Früh, H. (2003). Handling Robots Equipped with Highly Redundant Sensors [Ebook] 340–341. Zurich: Schweizerische Chemische Gesellschaft.
García, J., & Molina, J. (2020). Simulation in real conditions of navigation and obstacle avoidance with PX4/Gazebo platform. Personal and Ubiquitous Computing. doi: 10.1007/s00779-019-01356-4
Günther, M., (2013). Arm Navigation for the Neuronics Katana family of robot arms. Lecture notes. Universität Osnabrück. Delivered 11 May 2013.
Günther, M. (2017). uos/katana_driver. Retrieved 7 January 2019, from https://github.com/uos/katana_driver
Haas, J. (2014). A History of the Unity Game Engine. BSc Thesis. Worcester Polytechnic Institute.
Hassan, A., (2013). Path planning of robot manipulator using Bezier technique. Master's Thesis. University of Technology.
Holden, T., (2012). Development of an Intelligent Robotic Manipulator. MSc. University of Central Lancashire.
Ivaldi, S., & Ugurlu, B. (2018). Chapter 35: Free Simulation Software and Library. Retrieved January 12, 2019 from https://hal.archives-ouvertes.fr/hal-01614032
Kanajar, P. (2011). Neptune: Mobile Manipulator with Advanced Human Robot Interaction. Master's Thesis. The University of Texas At Arlington.
kinetic/Installation/Ubuntu - ROS Wiki. (2019). Retrieved March 20, 2019, from http://wiki.ros.org/kinetic/Installation/Ubuntu
Koenig, N. & Howard, A., (2004). Design and use paradigms for gazebo, an open-source multi-robot simulator. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), Sendai, Japan, 28 September-2 October.
Linner, T., Shrikathiresan, A., Vetrenko, M., Ellmann, B. & Bock, T., (2011). Modeling and Operating Robotic Environments Using Gazebo/ROS. 28th International Symposium on Automation and Robotics in Construction (ISARC 2011), Seoul, Korea, 29 June-2 July.
Lu, Z., Chauhan, A., Silva, F. & Lopes, L., 2012. A brief survey of commercial robotic arms for research on manipulation. 2012 IEEE Symposium on Robotics and Applications (ISRA), Kuala Lumpur, Malaysia, 3-5 June.
Mittal, M., (2018). Introduction to Robot Simulation (Gazebo). Lecture notes, Autonomous Navigation AE640A, Eidgenössische Technische Hochschule Zürich-ETH Zurich University, delivered 10 January 2018.
Noori, F., Portugal, D., Rocha, R., & Couceiro, M. (2017). On 3D simulators for multi-robot systems in ROS: MORSE or Gazebo?. 2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR). doi: 10.1109/ssrr.2017.8088134
Pietrzik, S., & Chandrasekaran, B. (2019). Setting up and Using ROS-Kinetic and Gazebo for Educational Robotic Projects and Learning. Journal of Physics: Conference Series, 1207. doi: 10.1088/1742-6596/1207/1/012019
Pirjanian, P., Leger, C., Mumm, E., Kennedy, B., Garrett, M., & Aghazarian, H. et al. (2002). Distributed control for a modular, reconfigurable cliff robot. Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292). doi: 10.1109/robot.2002.1014381
Qian, W., Xia, Z., Xiong, J., Gan, Y., Guo, Y., Weng, S., Deng, H., Hu, Y. and Zhang, J., (2014). Manipulation task simulation using ROS and Gazebo, 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014).
Quigley, M., Conley, K., Gerkey, B.P., Faust, J., Foote, T., Leibs, J., Wheeler, R.C., & Ng, A.Y. (2009). ROS: an open-source Robot Operating System. ICRA 2009.
Schmid, S., (2013). Creation of a robot-user interface for persons with reduced motor capabilities. BSc.
Takaya, K., Asai, T., Kroumov, V. and Smarandache, F. (2016). Simulation Environment for Mobile Robots Testing Using ROS and Gazebo. In: 20th International Conference on System Theory, Control and Computing (ICSTCC). Sinaia, Romania: IEEE Control Systems Society.
Uslu, E., Çakmak, F., Altuntaş, N., Marangoz, S., Amasyalı, M., & Yavuz, S. (2017). An architecture for multi-robot localization and mapping in the Gazebo/Robot Operating System simulation environment. SIMULATION, 93(9), 771-780. doi: 10.1177/0037549717710098
Yamashina, K., Ohkawa, T., Ootsu, K., & Yokota, T. (2015). Proposal of ROS-compliant FPGA Component for Low-Power Robotic Systems. ArXiv, abs/1508.07123.
Zou, D. (2014). ROS+Gazebo Quadrotor Simulator. Presentation, Lab of Navigation and Location-based Service.

Downloads

Published

2021-06-30

Issue

Vol. 5 No. 1 (2021): ISSUE 8

Section

Review Articles

License

Authors who publish with this journal agree to the following terms:
1. Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License [CC BY-NC-ND 4.0] that allows others to share the work with an acknowledgment of the work's authorship and initial publication in this journal.
2. Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgment of its initial publication in this journal.
3. Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).

How to Cite

A ROS-Gazebo Interface for the Katana Robotic Arm Manipulation. (2021). UKH Journal of Science and Engineering, 5(1), 26-37. https://doi.org/10.25079/ukhjse.v5n1y2021.pp26-37

Most read articles by the same author(s)

1 2 3 4 5 6 7 8 9 10 > >>