Dani, Andreas Meifyanno and Rusyadi, Rusman and Widjaja, Benny (2018) 6 Degree of Freedom Arm Robot Path Planning Using Robot Operating System Moveit! Bachelor thesis, Swiss German University.

Preview	Text Andreas Meifyanno Dani-TOC.pdf Download (1MB) | Preview
	Text Andreas Meifyanno Dani-1.pdf Restricted to Registered users only Download (423kB)
	Text Andreas Meifyanno Dani-2.pdf Restricted to Registered users only Download (1MB)
	Text Andreas Meifyanno Dani-3.pdf Restricted to Registered users only Download (3MB)
	Text Andreas Meifyanno Dani-4.pdf Restricted to Registered users only Download (5MB)
	Text Andreas Meifyanno Dani-5.pdf Restricted to Registered users only Download (306kB)
Preview	Text Andreas Meifyanno Dani-Ref.pdf Download (307kB) | Preview

Abstract

The main objective of this thesis is to implement the MoveIt! Motion Planning Framework through the Robot Operating System to the 6 degrees of freedom arm robot. All of the arm robot parts are 3D-printed and assembled. The main actuator for the arm robot is the Dynamixel Smart Servo. MoveIt! Motion Planning Framework was used for this thesis because MoveIt! provides setup assistant that can help with the setup of the arm robot for the path planning. MoveIt! also provides various features that are useful for path planning, such as, goal state visualization, current robot pose visualization, 3D Perception and other various useful features. This thesis other purpose is to test several of the features that MoveIt! has. In MoveIt! after a goal state of the arm robot, it can move according to the visualization of the movement. At the end of this thesis, the implementation of MoveIt! Motion Planning Framework is successful and the arm robot can move according to the MoveIt! planned path.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	ROS, Arm Robot, MoveIt! Motion Planning Framework, Path Planning, Dynamixel
Subjects:	T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General)
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Faisal Ifzaldi
Date Deposited:	11 Jan 2021 17:00
Last Modified:	11 Jan 2021 17:00
URI:	http://repository.sgu.ac.id/id/eprint/1962

Actions (login required)

View Item