Real time control of robotic arm manipulators

Abstract

This thesis is based around creating an interface between a ROS-based robot arm and MATLAB, focusing mostly on robots in the industry. MATLAB will be used to implement a simulator of the robot and to create communication with it. In addition, Denavit Hartenberg representation and optimization were used to calculate forward and inverse kinematics. The results of this thesis are functional communication and robot arm movement, pick and place operations with objects, multi-robot interactivity trajectory tracking, and position-based movements.

This thesis is based around creating an interface between a ROS-based robot arm and MATLAB, focusing mostly on robots in the industry. MATLAB will be used to implement a simulator of the robot and to create communication with it. In addition, Denavit Hartenberg representation and optimization were used to calculate forward and inverse kinematics. The results of this thesis are functional communication and robot arm movement, pick and place operations with objects, multi-robot interactivity trajectory tracking, and position-based movements.