An analysis on controlling humanoid robot arm using Robot Operating System (ROS)

Murali, Sriram (2017) An analysis on controlling humanoid robot arm using Robot Operating System (ROS). Masters thesis, Middlesex University.

[img] PDF - Final accepted version (with author's formatting)
Restricted to Repository staff and depositor only until 5 June 2019.

Download (2MB)

Abstract

Humanoid robots are extensively discussed in modern days. The movement task and manipulation of Humanoid Robots is examined based on mobility of platforms and control of the arm. This project describes a robotic arm that is analogous to an arm of a human being. Some important parameters to be considered are reachability, stability and manipulability.

This thesis aims at adapting a humanoid robot arm for performing movement operation that can be used for various purposes. The proposed robot arm has 3 motors on the left arm and 3 motors on the right arm thereby constituting a total of 6 motors. This operation can be achieved by the use of sensor like ultrasonic sensor. Here Beaglebone Black, an open source linux based controller board is used. The Beaglebone Black acts as the main controller for the entire system. A research is also being made to implement the robotic arm using Robot Operating System (ROS) platform. ROS is preferred since it is modular, simple and easy to use tools for development, it provides good hardware support, lots of algorithms are implemented together as package, etc.

Item Type: Thesis (Masters)
Research Areas: A. > School of Science and Technology
B. > Theses
Item ID: 22175
Depositing User: Jennifer Basford
Date Deposited: 28 Jun 2017 15:12
Last Modified: 28 Jun 2017 15:12
URI: http://eprints.mdx.ac.uk/id/eprint/22175

Actions (login required)

Edit Item Edit Item

Full text downloads (NB count will be zero if no full text documents are attached to the record)

Downloads per month over the past year