Modular Robotics Application in ROS/Gazebo Environment

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Dr. Vidács Attila
Department of Telecommunications and Media Informatics

The history of modular robotics dates back to 1972, but their application in industrial environment is not common. This is not surprising since most of these robots are not designed to handle the roles of the industrial robots. Many modular robots are designed to be used in extreme conditions such as space, deep sea or nuclear power plants utilizing their ability that the robot can replace its defective component or reconfigure itself.

My goal is to investigate if a modular robot could be applied in an industrial environment.

I present a robot that is capable of self-reconfiguration in a task specific way. My analysis is performed on a robot simulation software, Gazebo interacting with ROS. Gazebo is an open source simulation software that can be used to simulate complex environments. Robot Operating System (ROS) is a robotic application development platform.

In this paper, I discuss the assembly process of a modular robotic arm. The parts are gathered with an UR10 robot arm and the remote-controlled connectors are used to fix them together. Finally, I present some alternative assembly setups of the modular robotic kits.


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