ROS 2 configuration for delta robot arm kinematic motion and stereo camera visualization

Chong, Sook Hui (2022) ROS 2 configuration for delta robot arm kinematic motion and stereo camera visualization. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

The goal of this project is to develop a parallel delta robot simulation environment with stereo camera visualization using Robot Operating System 2 (ROS 2) environment. Unified Robot Description Format (URDF) which is the most commonly used eXtensible Markup Language (XML) specification file to describe the robot physical structural has the limitation of only allowing a robotic system to be modeled in a tree structure. Hence, Simulation Description Format (SDF) is used in this project to describe the delta robot arm that consists of closed-loop kinematic chain linkage to be simulated in Gazebo. Several Gazebo plugin libraries are implemented to perform the wheels motion control, stereo camera visualization, and the delta robot arm kinematic motion. Inverse kinematic motion is performed in this project and the approach of the implementation of the Gazebo plugin has given the result of average percentage error of 3.52 % for the angular rotational degree of all three joints connected in between the motors and biceps. The results of the angular rotational degree of all three joints measured are obtained through varying the position of the end-effector along the Z-axis.

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