Motion controls for HEBI robotic
Motion planning and control is now well known as a key technology in the field of robotic. The robustness of motion control will signify a function of stiffness and a basis for practical usage. Target of motion is categorized by control stiffness which could be change according to the preferred task...
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2019
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| Online Access: | http://hdl.handle.net/10356/76417 |
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sg-ntu-dr.10356-764172023-03-04T18:50:42Z Motion controls for HEBI robotic Goh, Ser Wei Domenico Campolo School of Mechanical and Aerospace Engineering DRNTU::Engineering::Electrical and electronic engineering Motion planning and control is now well known as a key technology in the field of robotic. The robustness of motion control will signify a function of stiffness and a basis for practical usage. Target of motion is categorized by control stiffness which could be change according to the preferred task reference. However, the system robustness of motion always requires a well-planned path and a very high stiffness in the controller. With the studies of motion planning and motion control, this project proposes a self-planning package using robot operating system, gazebo simulation and moveit motion planner. This report will explore the usage of ROS, gazebo, moveit and how to integrate them together and implement on the robot Bachelor of Engineering (Mechanical Engineering) 2019-01-07T13:19:14Z 2019-01-07T13:19:14Z 2018 Final Year Project (FYP) http://hdl.handle.net/10356/76417 en Nanyang Technological University 60 p. application/pdf |
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Nanyang Technological University |
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NTU Library |
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Asia |
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Singapore Singapore |
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English |
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DRNTU::Engineering::Electrical and electronic engineering |
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DRNTU::Engineering::Electrical and electronic engineering Goh, Ser Wei Motion controls for HEBI robotic |
| description |
Motion planning and control is now well known as a key technology in the field of robotic. The robustness of motion control will signify a function of stiffness and a basis for practical usage. Target of motion is categorized by control stiffness which could be change according to the preferred task reference. However, the system robustness of motion always requires a well-planned path and a very high stiffness in the controller.
With the studies of motion planning and motion control, this project proposes a self-planning package using robot operating system, gazebo simulation and moveit motion planner. This report will explore the usage of ROS, gazebo, moveit and how to integrate them together and implement on the robot |
| author2 |
Domenico Campolo |
| author_facet |
Domenico Campolo Goh, Ser Wei |
| format |
Final Year Project |
| author |
Goh, Ser Wei |
| author_sort |
Goh, Ser Wei |
| title |
Motion controls for HEBI robotic |
| title_short |
Motion controls for HEBI robotic |
| title_full |
Motion controls for HEBI robotic |
| title_fullStr |
Motion controls for HEBI robotic |
| title_full_unstemmed |
Motion controls for HEBI robotic |
| title_sort |
motion controls for hebi robotic |
| publishDate |
2019 |
| url |
http://hdl.handle.net/10356/76417 |
| _version_ |
1759854698674782208 |