Robust Control Platform for Robotic Arm Using ROS

Dr.Ignatius Antony Herman, Mr.Nikhil Amala Jerrin J, Mr.Kishore S,Ms.Cecil Ignatius Hermina, Ms. Sneha N

Abstract: Over the horizon of automation and robotics, the designing of an economically efficient robot with multiple features via an open source tool becomes immensely important and greatly valid. Though substantially demandable Computer Numerical Control (CNC) programming constituting g code and m code for controlling , starting, stopping of robots is used as a procedural instruction for 3D printing it lacks in the domain of feedback control. An open source moveo which is an open design is being stimulated . Here , It is made to perform as a powerful equipment reconnoitering multiplex actions. Initially beginning with the construction of the robotic arm, the proposed idea deals with stimulating, controlling the real robot and the interface between these two. Simulation of the robot involves the creation of URDF file of the moveo using solidworks. Controlling deals with the coupling of Arduino Mega 2560 along with a RAMPS 1.4 and the stepper motors. And finally, the main objective that is the interface between these two modules such that the real robot echoing the movements or changes made in the stimulation part is achieved with the creation of rosnode that converts the rotation into steps necessary to move the robotic arm as desired. Systamizing of objects in automation industries could be consummated by this trajectory. Keywords: Robotics, Computer Numerical Control Programming , 3D printing , ROS .

Title:	Robust Control Platform for Robotic Arm Using ROS
Author Name:	Dr.Ignatius Antony Herman, Mr.Nikhil Amala Jerrin J, Mr.Kishore S,Ms.Cecil Ignatius Hermina, Ms. Sneha N
Abstract:	Abstract: Over the horizon of automation and robotics, the designing of an economically efficient robot with multiple features via an open source tool becomes immensely important and greatly valid. Though substantially demandable Computer Numerical Control (CNC) programming constituting g code and m code for controlling , starting, stopping of robots is used as a procedural instruction for 3D printing it lacks in the domain of feedback control. An open source moveo which is an open design is being stimulated . Here , It is made to perform as a powerful equipment reconnoitering multiplex actions. Initially beginning with the construction of the robotic arm, the proposed idea deals with stimulating, controlling the real robot and the interface between these two. Simulation of the robot involves the creation of URDF file of the moveo using solidworks. Controlling deals with the coupling of Arduino Mega 2560 along with a RAMPS 1.4 and the stepper motors. And finally, the main objective that is the interface between these two modules such that the real robot echoing the movements or changes made in the stimulation part is achieved with the creation of rosnode that converts the rotation into steps necessary to move the robotic arm as desired. Systamizing of objects in automation industries could be consummated by this trajectory. Keywords: Robotics, Computer Numerical Control Programming , 3D printing , ROS .
Cite this article:	Dr.Ignatius Antony Herman, Mr.Nikhil Amala Jerrin J, Mr.Kishore S,Ms.Cecil Ignatius Hermina, Ms. Sneha N , " Robust Control Platform for Robotic Arm Using ROS " , International Journal of Emerging Trends & Technology in Computer Science (IJETTCS), Volume 9, Issue 5, September - October 2020 , pp. 010-013 , ISSN 2278-6856.
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