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Title: Tinkerkit Braccio y uso del framework ROS para el aprendizaje y desarrollo de robots manipuladores
Author: Hernández Elvira, Augusto
Tutor: López Antón, Aleix
Others: Monzo Sánchez, Carlos
Keywords: Arduino
Issue Date: 7-Jun-2021
Publisher: Universitat Oberta de Catalunya (UOC)
Abstract: ROS is undoubtedly becoming a de facto standard in robotics. In parallel, the Arduino board continues to be a source of inspiration for the different projects of researchers, students and makers. Therefore, it is convenient to carry out a study on this software platform and the hardware provided by Arduino together with the Tinkerkit Braccio manipulator robot. For this, the project raises some fundamental aspects. Initially, the proposed design at the hardware / software level is presented, and an introduction of the ROS ecosystem is made. Then, all the kinematic theory necessary to understand a work of this type is explained in detail. Then we continue to delve into kinematics (direct and inverse), but this time at a more practical level, with the help of some ROS tools and libraries such as RViz and MoveIt! The common thread between the different chapters will be the visual element, making the reader's conceptual journey throughout the Bachelor Thesis as pleasant and intuitive as possible. Finally, there will be a test run and some basic movements with the robot.
Language: Spanish
Appears in Collections:Bachelor thesis, research projects, etc.

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