Set up and control of a UR3 Robot using ROS2 Humble
[EN] This Master's project aims to control a UR3 robotic arm using Robotics Operative System 2 (ROS2) software, specifically the Humble version. The project will involve computer setup, ROS2 methods learning, UR driver packages analysis, and utilization of simulation, visualization (RViz),...
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| Formato: | tesis de maestría |
| Fecha de publicación: | 2023 |
| País: | España |
| Recursos: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | inglés |
| OAI Identifier: | oai:riunet.upv.es:10251/198713 |
| Acesso em linha: | https://riunet.upv.es/handle/10251/198713 |
| Access Level: | acceso abierto |
| Palavra-chave: | Brazo robótico UR3 ROS2 Humble Panel de control Simulación MoveIt UR3 robotic arm Control framework Simulation INGENIERIA MECANICA Máster Universitario en Ingeniería Mecatrónica-Màster Universitari en Enginyeria Mecatrònica |
| Resumo: | [EN] This Master's project aims to control a UR3 robotic arm using Robotics Operative System 2 (ROS2) software, specifically the Humble version. The project will involve computer setup, ROS2 methods learning, UR driver packages analysis, and utilization of simulation, visualization (RViz), and data analysis (PlotJuggler) software. The project's primary objective is to achieve joint position control and movement of the robot, with further exploration of other control types and the MoveIt tool. By the project's conclusion, the goal is to develop a comprehensive understanding of ROS2 Humble and its applications in robotics control, specifically for the UR3. |
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