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ROS based Six-DOF robotic arm control through CAN bus interface

Publication Type : Conference Paper

Publisher : IEEE

Source : In 2021 5th International Conference on Intelligent Computing and Control Systems (ICICCS)

Url : https://ieeexplore.ieee.org/abstract/document/9432341

Campus : Amritapuri

School : Department of Electronics and Communication Engineering, School of Engineering

Center : Humanitarian Technology (HuT) Labs

Year : 2021

Abstract : In this research work we propose a mechanism where six actuator nodes which represent the six degrees of freedom of a robotic arm are connected via the Controller Area Network bus to forms its communication network and receives commands from a common controller . A simulation environment is created in the Gazebo simulator of host simulator and real time analysis of the robotic arm is done via Rviz. Through the simulation, the robotic arm receives instructions from a joystick integrated to the same host PC. The position of each joint with respect to the command from the joystick is sent over WiFi to the common controller and an indication that the message has been received is shown on hardware using the CAN network setup. The arrangement creates an effective framework for learning the working of complex robotic systems with several DOF

Cite this Research Publication : Megalingam, R.K., Sahajan, A., Rajendraprasad, A., Sakthiprasad Kuttankulangara Manoharan. and Reddy, C.P.K., 2021, May. ROS based Six-DOF robotic arm control through CAN bus interface. In 2021 5th International Conference on Intelligent Computing and Control Systems (ICICCS) (pp. 739-744). IEEE. 

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