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

Abstract

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.