Motion Planning and Control of Hydraulic Manipulator using MoveIt 2
Bayramov, Rufat (2023)
2023
Master's Programme in Information Technology
Informaatioteknologian ja viestinnän tiedekunta - Faculty of Information Technology and Communication Sciences
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Hyväksymispäivämäärä
2023-12-20
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tuni-202311019350
https://urn.fi/URN:NBN:fi:tuni-202311019350
Tiivistelmä
Decades of research and investment led to rapid maturation of robotics as a field, especially software side experiencing significant change. One of the byproducts of this effort was the creation of various robotics middlewares to facilitate collaboration between research institutions, industry players and individual contributors. Robot Operating System, shortly ROS, is one of the most popular open source implementations. Two of the flagship packages in this ecosystem are Nav2 for mobile navigation and MoveIt 2 for manipulation tasks.
Despite considerable developments in ROS ecosystem and Moveit 2, priority has mostly been given to standard industrial manipulators with serial chains driven by electric motors. In the heavy duty machinery industry, manipulators often possess kinematic structure and actuation mechanism different from one described above. Therefore, a natural question arises whether MoveIt 2 and ROS 2 are ready to be used for hydraulic manipulators and if yes, how well do they perform?
By conducting software analysis and benchmarking on planners, this thesis aims to answer these questions.
Results show that although MoveIt 2 has many of the features necessary for solving a planning problem and they work satisfactorily, some critical features are still missing or need more work to make it ready for integration out-of-the box with hydraulic manipulators. Additionally, we benchmark provided planners on various tasks to show performance under different conditions and kinematic structures.
Despite considerable developments in ROS ecosystem and Moveit 2, priority has mostly been given to standard industrial manipulators with serial chains driven by electric motors. In the heavy duty machinery industry, manipulators often possess kinematic structure and actuation mechanism different from one described above. Therefore, a natural question arises whether MoveIt 2 and ROS 2 are ready to be used for hydraulic manipulators and if yes, how well do they perform?
By conducting software analysis and benchmarking on planners, this thesis aims to answer these questions.
Results show that although MoveIt 2 has many of the features necessary for solving a planning problem and they work satisfactorily, some critical features are still missing or need more work to make it ready for integration out-of-the box with hydraulic manipulators. Additionally, we benchmark provided planners on various tasks to show performance under different conditions and kinematic structures.