Design of Robotic Manipulator for Welding using ROS and Gazebo

摘要

In this paper, we are presenting the modelling and simulation of our automated welding system which includes a 6 axis manipulator coupled with a vision system. The goal was to emulate a real world setup, and so a physical vision system is utilized to get inputs. This is achieved by interfacing the MoveIt motion planning plugin with OpenCV in ROS. The robot model in our simulation was designed in Fusion 360 according to the required specifications, and a custom environment was setup which mirrored a real life setup.