Devon Gardner

Date of Award

2023

Document Type

Thesis

Degree Name

Bachelors

Department

Natural Sciences

First Advisor

Gillman, David

Area of Concentration

Computer Science

Abstract

Throughout this project we explore the process of modeling robot arm kinematics. The purpose of this exploration is to understand the process of the task of picking up and placing an object. It seems a rather simple task for many but for a robot arm it is a complex problem. We discuss techniques used to model robot kinematics like programming by demonstration, motion primitives, forward kinematics, and inverse kinematics. We introduce tools available to allow development of programs that interface with the Widow X 200 robot arm like the DynamixelSDK and Dynamixel Serial Communication Protocol. Robot Operating System, a common academic tool for robot system development, is introduced and the structure for a ROS package using previously mentioned techniques is described. By the end we have mathematical models and programs that accurately move the robot arm to any provided goal pose as long as the robot arm configuration is physically capable of reaching it.

Download

Share

COinS