Robot manipulator model creation using the resources of robot operating system for educational purposes

Introduction. Comprehending the complex nature of robots and their usage requires
extensive knowledge across multiple fields. Which makes tools that can ease human-robot
interactions great for education and research purposes. Robot Operation System (ROS) is one
of the such instruments.
Objective. To evaluate change of moment of inertia in dynamics for a robot
manipulator model using ROS.
The object of research – the modelling of a robot manipulator system.
The subject of research – the usage of ROS methods to obtain a robot manipulator
model.
Research results. The Custom Robotic Kit (CuRoK) robot manipulator was chosen to
achieve the research goal. The kinematic diagram of the system is shown in Fig 1 and DH
parameters are shown in.