Development of ROS-Nodes for Integration of a Collaborative Robotic Cell

• Grant number: 24/17155-1
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: November 01, 2024
• End date: October 31, 2025
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Emilia Villani
• Grantee: Narayane Ribeiro Medeiros
• Host Institution: Divisão de Engenharia Mecânica (IEM). Instituto Tecnológico de Aeronáutica (ITA). Ministério da Defesa (Brasil). São José dos Campos , SP, Brazil
• Company: Ministério da Defesa (Brasil). Instituto Tecnológico de Aeronáutica (ITA). Divisão de Engenharia Mecânica (IEM)
• Associated research grant: 21/11258-5 - Engineering Research Center for the Aerial Mobility of the Future (ERC-AMF), AP.PCPE

Abstract

The purpose of this project is the development of ROS-Nodes of devices and subsystems of a multi-task collaborative robotic cell, considering to the architecture and requirements to be designed by the R&D project team. It deals with the concept of virtual and real commissioning based on the ROS environment (Filipenko et. al., 2020), being placed in the field of model-based design (MBD) (Barbieri et. al., 2021). Based on the topics of robot modelling and simulation, it focuses on the behaviour of the main subsystems and components of the designed collaborative robotic testbed. While Filipenko et al (2020) discuss the challenges of performing virtual commissioning of robotic cells designed in ROS importing to Unity programming environment, the main idea inn this proposal is that the student performs the classical node modelling in C++ or Python programming languages to use them in the simulation (with GNU-License apps like Gazebo or CoppeliaSim) and final real integration.