Title :
Manipulation task simulation using ROS and Gazebo
Author :
Wei Qian ; Zeyang Xia ; Jing Xiong ; Yangzhou Gan ; Yangchao Guo ; Shaokui Weng ; Hao Deng ; Ying Hu ; Jianwei Zhang
Author_Institution :
Harbin Inst. of Technol. Shenzhen Grad. Sch., Chinese Univ. of Hong Kong, Shenzhen, China
Abstract :
This paper intends to create a simulation of manipulator and illustrates the methods of how to implement robot control in a short time. Here we complete the grasp and place mission using Gazebo virtual world and Robot Operating System (ROS). ROS is a distributed framework that is widely used in robotics. Considering the advantages of its easier hardware abstraction and code reuse, ROS was chosen to rapidly organize task architecture and, due to its compatibility with ROS, Gazebo was chosen as the main platform to simulate the designated motion of virtual manipulator.
Keywords :
control engineering computing; manipulators; operating systems (computers); virtual reality; Gazebo virtual world; ROS; manipulation task simulation; robot control; virtual manipulator; Joints; Manipulators; Robot kinematics; Robot sensing systems; Servers; Trajectory;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
DOI :
10.1109/ROBIO.2014.7090732
