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Estudo e contole de um robô hexápode utilizando o ROS (Robot Operating System)

Bibliographic Details
Main Author: Nunes, Victor
Publication Date: 2020
Format: Bachelor thesis
Language: por
Source: Repositório Institucional da UFSCAR
Download full: https://repositorio.ufscar.br/handle/20.500.14289/13588
Summary: The technological advancements and the search for more productivity and efficiency has been changing the industrial environment, including the adoption of solutions in robotic field. In this scenario the goal of this document is develop a model and control of an hexapod robot, inside ROS (Robot Operating System) environment. The robot is a working project developed for the aircraft industry, inside the concept of 4.0 Industry. The proposal is developing a forward and an inverse kinematic model of the robot and apply them inside the visualization software of ROS, Rviz, to simulate a gait cycle. The kinematic model will be evaluated with the expected trajectory and if is possible for control the robot inside the environment for development of upcoming projects.
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spelling Nunes, VictorBarbosa, Gustavo Francohttp://lattes.cnpq.br/4027686840017498http://lattes.cnpq.br/0445191574675417fab154b5-2973-406b-88e0-60207e280c7b2020-12-21T21:56:59Z2020-12-21T21:56:59Z2020-12-09NUNES, Victor. Estudo e contole de um robô hexápode utilizando o ROS (Robot Operating System). 2020. Trabalho de Conclusão de Curso (Graduação em Engenharia Mecânica) – Universidade Federal de São Carlos, São Carlos, 2020. Disponível em: https://repositorio.ufscar.br/handle/20.500.14289/13588.https://repositorio.ufscar.br/handle/20.500.14289/13588The technological advancements and the search for more productivity and efficiency has been changing the industrial environment, including the adoption of solutions in robotic field. In this scenario the goal of this document is develop a model and control of an hexapod robot, inside ROS (Robot Operating System) environment. The robot is a working project developed for the aircraft industry, inside the concept of 4.0 Industry. The proposal is developing a forward and an inverse kinematic model of the robot and apply them inside the visualization software of ROS, Rviz, to simulate a gait cycle. The kinematic model will be evaluated with the expected trajectory and if is possible for control the robot inside the environment for development of upcoming projects.Os avanços tecnológicos e a busca por melhoria de produtividade e eficiência, vem provocando muitas mudanças no ambiente industrial, incluindo a adoção de soluções na área da robótica. Neste contexto, o objetivo deste trabalho é desenvolver o modelo e controle de um robô hexápode, dentro da plataforma ROS (Robot Operating System). O robô é um projeto em andamento voltado para indústria aeroespacial, inserido no contexto de Indústria 4.0. Propõe-se desenvolver um modelo de cinemática direta e cinemática inversa, aplicá-lo ao programa de visualização do ROS, Rviz, de modo a simular um ciclo de passada. Será avaliado se o modelo de cinemática reproduz as trajetórias esperadas, e se é possível controlar o robô desenvolvido dentro da plataforma, dando espaço para futuros estudos com este robô.Não recebi financiamentoporUniversidade Federal de São CarlosCâmpus São CarlosEngenharia Mecânica - EMecUFSCarCC0 1.0 Universalhttp://creativecommons.org/publicdomain/zero/1.0/info:eu-repo/semantics/openAccessIndústria 4.0RobóticaHexápodeRobot Operating System4.0 IndustryRoboticsHexapodENGENHARIAS::ENGENHARIA MECANICA::PROJETOS DE MAQUINASEstudo e contole de um robô hexápode utilizando o ROS (Robot Operating System)Study and control of an hexapod robot using ROS (Robot Operating System)info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bachelorThesis6006000bcdb739-8af4-4363-9334-bed5199d9bd3reponame:Repositório Institucional da UFSCARinstname:Universidade Federal de São Carlos (UFSCAR)instacron:UFSCARORIGINALTCC - Victor Abreu Nunes (Rev Victor 20.12).pdfTCC - Victor Abreu Nunes (Rev Victor 20.12).pdfapplication/pdf1547080https://repositorio.ufscar.br/bitstreams/e18092f9-0896-4295-90f5-7b83c0a0d71d/downloadb6a7ee124da790a98d3ee346dd53a778MD51trueAnonymousREADCC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; charset=utf-8701https://repositorio.ufscar.br/bitstreams/0e7ad18e-e9f6-4961-9f82-7411d4090cfa/download42fd4ad1e89814f5e4a476b409eb708cMD52falseAnonymousREADTEXTTCC - Victor Abreu Nunes (Rev Victor 20.12).pdf.txtTCC - Victor Abreu Nunes (Rev Victor 20.12).pdf.txtExtracted texttext/plain67115https://repositorio.ufscar.br/bitstreams/4a274726-2435-4b4d-be5c-1d0aeee4f987/download4a7cd2a68a66f254de05d419e792be36MD55falseAnonymousREADTHUMBNAILTCC - Victor Abreu Nunes (Rev Victor 20.12).pdf.jpgTCC - Victor Abreu Nunes (Rev Victor 20.12).pdf.jpgIM Thumbnailimage/jpeg3428https://repositorio.ufscar.br/bitstreams/0587c4ff-4a36-4aaa-993f-5ae91f9848bc/downloada712881e51c4f447150496f4f98a7906MD56falseAnonymousREAD20.500.14289/135882025-02-05 22:42:27.241http://creativecommons.org/publicdomain/zero/1.0/CC0 1.0 Universalopen.accessoai:repositorio.ufscar.br:20.500.14289/13588https://repositorio.ufscar.brRepositório InstitucionalPUBhttps://repositorio.ufscar.br/oai/requestrepositorio.sibi@ufscar.bropendoar:43222025-02-06T01:42:27Repositório Institucional da UFSCAR - Universidade Federal de São Carlos (UFSCAR)false
dc.title.por.fl_str_mv Estudo e contole de um robô hexápode utilizando o ROS (Robot Operating System)
dc.title.alternative.por.fl_str_mv Study and control of an hexapod robot using ROS (Robot Operating System)
title Estudo e contole de um robô hexápode utilizando o ROS (Robot Operating System)
spellingShingle Estudo e contole de um robô hexápode utilizando o ROS (Robot Operating System)
Nunes, Victor
Indústria 4.0
Robótica
Hexápode
Robot Operating System
4.0 Industry
Robotics
Hexapod
ENGENHARIAS::ENGENHARIA MECANICA::PROJETOS DE MAQUINAS
title_short Estudo e contole de um robô hexápode utilizando o ROS (Robot Operating System)
title_full Estudo e contole de um robô hexápode utilizando o ROS (Robot Operating System)
title_fullStr Estudo e contole de um robô hexápode utilizando o ROS (Robot Operating System)
title_full_unstemmed Estudo e contole de um robô hexápode utilizando o ROS (Robot Operating System)
title_sort Estudo e contole de um robô hexápode utilizando o ROS (Robot Operating System)
author Nunes, Victor
author_facet Nunes, Victor
author_role author
dc.contributor.authorlattes.por.fl_str_mv http://lattes.cnpq.br/0445191574675417
dc.contributor.author.fl_str_mv Nunes, Victor
dc.contributor.advisor1.fl_str_mv Barbosa, Gustavo Franco
dc.contributor.advisor1Lattes.fl_str_mv http://lattes.cnpq.br/4027686840017498
dc.contributor.authorID.fl_str_mv fab154b5-2973-406b-88e0-60207e280c7b
contributor_str_mv Barbosa, Gustavo Franco
dc.subject.por.fl_str_mv Indústria 4.0
Robótica
Hexápode
Robot Operating System
4.0 Industry
Robotics
Hexapod
topic Indústria 4.0
Robótica
Hexápode
Robot Operating System
4.0 Industry
Robotics
Hexapod
ENGENHARIAS::ENGENHARIA MECANICA::PROJETOS DE MAQUINAS
dc.subject.cnpq.fl_str_mv ENGENHARIAS::ENGENHARIA MECANICA::PROJETOS DE MAQUINAS
description The technological advancements and the search for more productivity and efficiency has been changing the industrial environment, including the adoption of solutions in robotic field. In this scenario the goal of this document is develop a model and control of an hexapod robot, inside ROS (Robot Operating System) environment. The robot is a working project developed for the aircraft industry, inside the concept of 4.0 Industry. The proposal is developing a forward and an inverse kinematic model of the robot and apply them inside the visualization software of ROS, Rviz, to simulate a gait cycle. The kinematic model will be evaluated with the expected trajectory and if is possible for control the robot inside the environment for development of upcoming projects.
publishDate 2020
dc.date.accessioned.fl_str_mv 2020-12-21T21:56:59Z
dc.date.available.fl_str_mv 2020-12-21T21:56:59Z
dc.date.issued.fl_str_mv 2020-12-09
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/bachelorThesis
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dc.identifier.citation.fl_str_mv NUNES, Victor. Estudo e contole de um robô hexápode utilizando o ROS (Robot Operating System). 2020. Trabalho de Conclusão de Curso (Graduação em Engenharia Mecânica) – Universidade Federal de São Carlos, São Carlos, 2020. Disponível em: https://repositorio.ufscar.br/handle/20.500.14289/13588.
dc.identifier.uri.fl_str_mv https://repositorio.ufscar.br/handle/20.500.14289/13588
identifier_str_mv NUNES, Victor. Estudo e contole de um robô hexápode utilizando o ROS (Robot Operating System). 2020. Trabalho de Conclusão de Curso (Graduação em Engenharia Mecânica) – Universidade Federal de São Carlos, São Carlos, 2020. Disponível em: https://repositorio.ufscar.br/handle/20.500.14289/13588.
url https://repositorio.ufscar.br/handle/20.500.14289/13588
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language por
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600
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rights_invalid_str_mv CC0 1.0 Universal
http://creativecommons.org/publicdomain/zero/1.0/
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Universidade Federal de São Carlos
Câmpus São Carlos
Engenharia Mecânica - EMec
dc.publisher.initials.fl_str_mv UFSCar
publisher.none.fl_str_mv Universidade Federal de São Carlos
Câmpus São Carlos
Engenharia Mecânica - EMec
dc.source.none.fl_str_mv reponame:Repositório Institucional da UFSCAR
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