A Robotic Framework for Simulation and Control of SCARA Robot Based on ROS

Abstract

Robot Operating System (ROS) is a popular robot development platform that provides various features such as passing various messages, distributed computing, reusing of code, and so on. The ROS community is growing very fast and there are several users and developers worldwide. Most of the high-end robotics companies are switching from proprietary robotic application to ROS. In industry, SCARA robots are widely used as they are faster than similar types of Cartesian robot systems. In this paper, we propose the design and control of the SCARA robot using ROS. For implementation, an Arduino UNO board is used as an interface between the robot model and the ROS environment. Rviz simulator is used to visualize the model and MoveIt! Setup Assistant is used to controlling the robotic arm with the help of joint state publisher. This paper gives the overall idea about ROS and its advantages for controlling industrial robots.

Keywords: MoveIt Setup Assistant, Robot Operating System, Rviz Simulator, SCARA

JEL Classification: Y60