• DocumentCode
    3587127
  • 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
  • fYear
    2014
  • Firstpage
    2594
  • Lastpage
    2598
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
  • Type

    conf

  • DOI
    10.1109/ROBIO.2014.7090732
  • Filename
    7090732
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3587127