Control y operación de un brazo robótico virtual mediante Robot Operating System (ROS)

Abstract

The present degree work started from the objective of operating a virtual robotic arm, ending in the development of a simulation environment. This was done in order to strengthen the learning in the robotics area of future engineers by using open source tools, thus facilitating their access from anywhere with a computer within reach.

The creation of an anthropomorphic arm from scratch was presented, so the description was made keeping in mind that the structure could be physically built in the future for the creation of a laboratory, It was also modeled in 3D in the Gazebo simulator, where determined its behavior using the ROS framework, developing a series of basic commands based on communication between nodes for this purpose. Finally, a graphical interface was developed in the Qt software capable of manipulating the movement of the joints from the input of the desired displacement in degrees, which when implemented significantly simplified the operation of the robot.

The programming languages used in the development of the project were XML to make the description of the robot together with the simulation world in Gazebo, and C ++ to establish the behavior of the structure and also to create its graphical operating interface. As a result of this project, the anthropomorphic manipulator was designed in both 2D and 3D, a set of scripts capable of manipulating the robot's behavior, and a graphical interface to facilitate its maneuverability for the user.