MANIPULACIÓN DEL ROBOT UR3 MEDIANTE ROS Y URSIM (MANIPULATION OF THE UR3 ROBOT BY ROS AND URSIM)
Resumen
El presente artículo muestra la implementación de un sistema para la manipulación del robot UR3 de Universal Robots, por medio de un gamepad y utilizando el framework ROS. Se muestra el modelo del robot y las herramientas necesarias para la simulación paso a paso del robot, utilizando el software URSim del fabricante, como paso previo a la manipulación real. Se configura un gamepad de manera que pueda enviar las señales cartesianas deseadas al robot, simulado o real, vía ROS. Los resultados muestran una correspondencia entre los movimientos obtenidos del robot en URSim con los movimientos reales del robot UR3.
Palabras claves: Manipulación de robots, Robot UR3, robots colaborativos, ROS, URSim.
Abstract
This article shows the implementation of a system for the manipulation of the Universal Robots UR3 robot, by means of a gamepad and using the ROS framework. The robot model and the necessary tools for the step-by-step simulation of the robot are shown, using the manufacturer's URSim software, as a previous step to the real manipulation. A gamepad is configured so that it can send the desired Cartesian signals to the robot, simulated or real, via ROS. The results show a correspondence between the movements obtained from the robot in URSim with the real movements of the UR3 robot.
Keywords: Robot manipulation, UR3 Robot, collaborative robots, ROS, URSim.
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