Design and Simulation of a Multi-Degree-of-Freedom Robotic Arm Using Gazebo and ROS
Keywords:
Multi-degree-of-freedom robotic arm, Gazebo simulation, Robot Operating System (ROS), inverse kinematics, path planning, hardware integration, software architecture, performance evaluation.Abstract
This study presents the design and simulation of a multi-degree-of-freedom robotic arm utilizing Gazebo and the Robot Operating System (ROS). The methodology encompasses the integration of hardware and software components through a structured approach. Key hardware elements include motors, motor controllers, a microcontroller, servos, and a camera, all powered by a regulated 12V DC supply. The microcontroller processes sensor inputs and controls motor operations, while the camera provides visual feedback for object detection and tracking. Software implementation involves developing ROS nodes for modular control, incorporating advanced control algorithms like inverse kinematics and path planning into the microcontroller firmware. The URDF model of the robotic arm is imported into Gazebo for simulation, allowing for performance validation in a controlled virtual environment. Various test scenarios in Gazebo evaluate the robotic arm's performance in activities such as handling objects and avoiding obstacles. The integration of ROS with Gazebo enables real-time testing, iterative improvements, and ensures the final design meets the desired specifications. This comprehensive approach results in a robust and reliable multi-degree-of-freedom robotic arm system, highlighting the potential of combining ROS and Gazebo for advanced robotic simulations and applications.
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