Modeling a Moving Manipulator Platform in ROS 2 for Space Robotics
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| Title: | Modeling a Moving Manipulator Platform in ROS 2 for Space Robotics |
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| Authors: | WEISS, BASTIAN S |
| Committee Members: | Elgohary, Tarek |
| Summary: | The control of mobile manipulators presents a unique challenge as the complexity of motion increases. ROS 2 provides the ability to create a digital twin of a physical system and control both simultaneously. This can be applied to mobile manipulators, allowing us to plan out complex movements and then simulate them virtually or physically. The Space ROS software is adapted for our Rapid Orbital Motion Emulator which is a 6 Degree of Freedom manipulator on top of a holonomic mobile base platform. Our custom Omni wheel controller running within the ROS 2 control package handles the kinematics for the base, while the MoveIt 2 software is used for the manipulator. The dynamics of the system is handled either by the Gazebo simulation environment or by the physical robot. This system can be used for modeling complex paths and planning out coupled motion as the base and arm can be planned to move independently or simultaneously. Some examples of applications are in-orbit servicing missions or docking operations as both require multiple moving components which the system can accommodate. |
| URL: | https://stars.library.ucf.edu/etd2024/513 |
| Database: | OpenDissertations |
| Abstract: | The control of mobile manipulators presents a unique challenge as the complexity of motion increases. ROS 2 provides the ability to create a digital twin of a physical system and control both simultaneously. This can be applied to mobile manipulators, allowing us to plan out complex movements and then simulate them virtually or physically. The Space ROS software is adapted for our Rapid Orbital Motion Emulator which is a 6 Degree of Freedom manipulator on top of a holonomic mobile base platform. Our custom Omni wheel controller running within the ROS 2 control package handles the kinematics for the base, while the MoveIt 2 software is used for the manipulator. The dynamics of the system is handled either by the Gazebo simulation environment or by the physical robot. This system can be used for modeling complex paths and planning out coupled motion as the base and arm can be planned to move independently or simultaneously. Some examples of applications are in-orbit servicing missions or docking operations as both require multiple moving components which the system can accommodate. |
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