Manipulations of cylindrical object

• Main Author: Lee, Ee Wei
• Other Authors: Chen I-Ming
• Format: Final Year Project
• Language: English
• Published: 2018
• Subjects: DRNTU::Engineering
• Online Access: http://hdl.handle.net/10356/75274
• Institution: Nanyang Technological University

As technologies develop further, more robots will be developed for all kinds of task, not just repetitive ones. This is why the demands for robot’s capability will also become higher. This means that robots have to be more sophisticated and be able to perform increasingly complex motions. In addition, being able to perceive, and interact with a dynamic environment will also become a very important ability for robots. In this project, a motion planning pipeline for the manipulation of cylindrical object in dynamic scenarios was developed. The report documents the details of going through Robot Operating System (ROS), the motion planning framework MoveIt!, used with a universal robot UR5 and various experiments leading up to the goal of manipulation of cylindrical object in dynamic scenarios. The experiments that had been done include simulations using MoveIt! and rviz, manipulation of cylindrical object in static scenarios using teaching and perception, and manipulation of cylindrical object in dynamic scenarios.