Manipulation and Path Planning for KUKA (LWR/ LBR 4+) Robot in a Simulated and Real Environment

摘要

Robotics has accomplished its greatest triumph to date in the world of industrial manufacturing and academia. This work aims to perform path planning using a KUKA (LWR/ LBR 4+) robot platform as well as a simulator to grasp the object. This whole implementation will be carried out in a ROS environment with Ubuntu (Linux) as an operating platform. The KUKA (LWR/ LBR 4+) has 7 degrees of freedom with several joints and linkages. It uses KR C2 LR as the main hardware controller. The robot gets visual information of an object by Microsoft Kinnect RGB-D camera and carries out necessary actions to clasp the object using a shadow hand and Barrett hand. The simulation and manipulation of robot gantry is performed by using C++ and python as a programming language. The bilateral robot platform and main PC hub are linked together by using Ethernet cable. The obtained results from the current research are found to be satisfactory and can be proven beneficial for researcher as a reference.