Utility Domestic Robot Presentation
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Transcript of Utility Domestic Robot Presentation
Nouman Tahir
> Person Following Robot
> Robotic Arm Kinematics
Person Following Robot
● Hardware Requirments– Mobile Robot Base
– Depth Sensor
– Mounting Platform
● Software Requirments– Processing Unit
– Development Platform
Development Platform
● ROS (Robot Operating System)The Robot Operating System (ROS) is a set of software libraries and tools that help you build robot applications. From drivers to state-of-the-art algorithms, and with powerful developer tools, ROS has what you need for your next robotics project. And it's all open source
● WHY ROS?– Its Open Source
means you can always be a part of mainframe development
– Huge Support for hardware platform
– Large Developer Community
– High Package Flexibity
– Very Good Compatibility
Learning Phase
● Understading Basic Working of ROS● Learing python● Learning and Testing Driving ROS● Learning iRobot op-codes for serial
communications● Learning RVIZ for simulation● Litrature Review for Follower Robot
Integrating Robot With ROS
Integrating Arduino with iRobot
Integrating Arduino with ROS
Testing Robot With ROS Interface
Human Tracking
Kinect DriverOpenni
PrimeSense NITESkeleton Tracking
RVIZ Skeleton
Torso TF Processing
Arduino Integration CodeTransform Listener Code
Skeleton Tracker Code Following Algorithm
Integrating Nodes
Follower Robot
Robotic Arm Kinematics
● Hardware Requirements– Fabricated Arm– Dynamixel Servos– Servo Driver– Xbee Module– Processing Unit
● Software Requirment– Development Platform
Turtlebot ARM URDF
Simulating Joint angles in Rviz
Thank You!