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A Review of Human–Robot Interaction for Automated Guided Vehicles Using Robot Operating Systems
Published in Anand Sharma, Sunil Kumar Jangir, Manish Kumar, Dilip Kumar Choubey, Tarun Shrivastava, S. Balamurugan, Industrial Internet of Things, 2022
Prashant Hemrajani, Tanishka Mohan, Manoj Kumar Bohra, Amit Kumar Bairwa
AGVs are battery-powered machines that generally work using GEL-based batteries. Their software framework is based on the Robot Operating System (ROS). ROS is an interface that gathers software frameworks for creating robot software. A number of sensors are involved in its working; for example, the proximity sensor helps in the detection of movement, which directly contributes to making it start or stop. Photosensors help in the detection of objects in the vehicle's pathway. The speed controlling is usually dealt with by fuzzy inference systems. Lane paths, signal paths, or signal beacons are used for navigating in an optimized manner and predicting danger in the path. Visual-based sensors are used for vehicular guidance and provide a lookout of its surroundings. The control system helps in automatic accurate pathfinding, motion control, localization, and mapping parallelly. The progress of navigation technology has contributed significantly to the growing utilization of AGVs. The transfer device sends a signal to the control device, after which the driving device receives a signal, which further moves the vehicles [1, 2] in the desired direction.
Programming for Intelligent Robot Systems
Published in Spyros G. Tzafestas, Intelligent Robotic Systems, 2020
There is an increasing interest in standardizing the interface between the user language and the run time system. If a standard software interface were provided and accepted by every robot manufacturer we would be able to use every robot language on every robot. In industrial environments homogeneity and modularity are valuable. CAM-I (1982) has identified five major components of robot software: the robot language, the robot simulator, the robot controller, the robot modeler, and the teaching system. They have attempted to standardize all of them but have obtained only partial results. The most promising work in standardization aims at defining a language that is simple enough to be implemented by manufacturers for their robots and yet powerful enough to be usable by programmers or to be considered as a target language for high-level programming languages. The problems to solve to obtain a standard include the kind of information that should be given to the robot, joint angles or frames; whether continuous path control should be allowed with point-to-point movements; and which primitives for input/output (I/O) should be included. The IRDATA standard adopted in West Germany by robot manufacturers (Blume and Jakob, 1986) is an example of a standard interface for robot controllers.
Unity and ROS Bridge
Published in Ata Jahangir Moshayedi, Amin Kolahdooz, Liefa Liao, Unity in Embedded System Design and Robotics, 2023
Ata Jahangir Moshayedi, Amin Kolahdooz, Liefa Liao
ROS is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify creating complex and robust robot behaviour across a wide variety of robotic platforms. ROS is an open-source, meta-operating system for any robot. It provides the services users expect from an operating system, including hardware abstraction, low-level device control, commonly-used functionality, message-passing between processes, and package management. It also provides tools and libraries for obtaining, building, writing, and running code across multiple computers.
Robot-assisted transcranial magnetic stimulation using hybrid position/force control
Published in Advanced Robotics, 2020
Prakarn Jaroonsorn, Paramin Neranon, Pruittikorn Smithmaitrie, Charoenyutr Dechwayukul
A host computer (running Robot Operating System, ROS) is the main processor which deals with measured data from all relevant sensors to generate real-time path modification of the robot arm. ROS is a flexible framework for robot software development as it offers many software libraries, tools, and great community support. A 6-axis (ATI Gamma) force/torque sensor was utilized and mounted between the robot end-effector and the TMS coil for detecting the direction and magnitude of the contact force. The force sensor communicates to the computer via Ethernet using the Network Force/Torque sensor system. The movement of the patient’s head is tracked by an XBOX 360 Microsoft Kinect camera, which communicates to the host computer via a USB port. The Openni_camera software package is used as a ROS driver of the Kinect camera. It can create an execution node to convert raw depth/RGB/IR data from the device into point clouds, disparity images, and depth image which suitable for processing and visualization. A 6-DOF KUKA KR-16 manipulator, available in the Robotic Lab at Prince of Songkla University, was used in this research. The robot motion is driven by the KUKA KR-C2 controller via the Robot Sensor Interface (RSI interface) system. The RSI interface is a specific add-on software package for configuration of the real-time data exchange between the robot controller and the computer through Ethernet communication. The updated rate is 4 ms or 250 Hz.
Wall-Climbing Robot with Active Sealing for Radiation Safety of Nuclear Power Plants
Published in Nuclear Science and Engineering, 2020
Daewon Kim, Yun-Sam Kim, Kyoungyong Noh, Misuk Jang, Seoungrae Kim
To satisfy these requirements, we designed the wall-climbing robot as shown in Fig. 1. Our robot moves here and there in an orbit and measures radiation in real time. Furthermore, the robot has the ability to be attached to walls using vacuum suction. To measure radiation, our robot moves automatically using a light detection and range (LIDAR) device and depth camera. We used the robot operating system (ROS) to control our wall-climbing robots in various operating environments. The ROS is a flexible framework to develop and operate robot software easily. It contains development tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms. Our robot uses a notebook as the host personal computer and the remote single-board computer (SBC) raspberry pi3, which communicate with each other through the ROS network. The SBC controls each sensor and actuator controllers in real time through an ARM board called OPENCR1.0.