Revista ELECTRO
Vol. 45 – Año 2023
Artículo
TÍTULO
Integración del Robot UR3 y Turtlebot 4 Mediante el Sistema Operativo ROS 2
AUTORES
Julio César Ramírez Valenzuela, Ignacio Javier Vázquez Cuevas, Diana Belinda Hernández Barajas, Joana Inés Fabian Fabian
RESUMEN
El propósito de este trabajo, es la integración de los robots UR3 y Turtlebot 4 siguiendo la ideología de la Industria 4.0. Para ello se hizo uso del mega sistema operativo ROS 2. Además, se hizo uso de la cámara Robotiq instalada previamente en el UR3. Para lograr los objetivos de integración, se hizo uso de las herramientas del ROS 2, como son: SLAM y Rviz2. Para lograr la comunicación entre los robots, se hizo uso de la tecnología de sockets. También, se usaron los lenguajes de programación Python y URScript. Se tienen algunos productos resultantes de este trabajo; a destacar, un artículo publicado en ELECTRO 2022 [16].
Palabras Clave: ROS 2, Industria 4.0, robot móvil, robot homomórfico, integración de robots
ABSTRACT
The purpose of this work is the integration of UR3 and Turtlebot 4 robots from the perspective of Industry 4.0. For this, the mega operating system ROS 2 was used. In addition, the Robotiq camera previously integrated with the UR3 was used. To achieve the integration objectives, the ROS 2 tools were used, such as: SLAM and Rviz2. To achieve communication between the robots, socket technology was used. Also, the programming languages Python and URScript were used. There are some products resulting from this work; To highlight, an article published in ELECTRO 2022 [16].
Keywords: ROS 2, Industry 4.0, mobile robot, homomorphic robot, robot integration
REFERENCIAS
[1] Oztemel, Ercan, and Samet Gursev. "Literature review of Industry 4.0 and related technologies." Journal of intelligent manufacturing 31 (2020): 127-182.
[2] Javaid, Mohd, et al. "Substantial capabilities of robotics in enhancing industry 4.0 implementation." Cognitive Robotics 1 (2021): 58-75.
[3] Vaisi, Bahareh. "A review of optimization models and applications in robotic manufacturing systems: Industry 4.0 and beyond." Decision Analytics Journal (2022): 100031.
[4] Tosello, Elisa, Nicola Castaman, and Emanuele Menegatti. "Using robotics to train students for Industry 4.0." IFAC-PapersOnLine 52.9 (2019): 153-158.
[5] Macenski, Steven, et al. "Robot Operating System 2: Design, architecture, and uses in the wild." Science Robotics 7.66 (2022): eabm6074.
[6] Thale, Sumegh Pramod, et al. "ROS based SLAM implementation for Autonomous navigation using Turtlebot." ITM Web of conferences. Vol. 32. EDP Sciences, 20 20.
[7] Hou, Yew Cheong, et al. "Development of collision avoidance system for multiple autonomous mobile robots." International Journal of Advanced Robotic Systems 17.4 (2020): 1729881420923967.
[8] Macenski, Steve, and Ivona Jambrecic. "SLAM Toolbox: SLAM for the dynamic world." Journal of Open Source Software 6.61 (2021): 2783N.R. Vela, Titulo, Ciudad, Editorial, año, páginas
[9] Merzlyakov, Alexey, and Steve Macenski. "A comparison of modern general-purpose visual SLAM approaches." 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2021.
[10] Rviz2, Guía de usuario. Enlace: http://docs.ros.org/en/jade/api/rviz/html/user_guide/index.html
[11] PolyScope , Universal Robots User Manual, UR3/CB3. Universal Robot, 2021. Enlace: https://www.univers al-robots.com/download/?query=
[12] Wong, Ching-Chang, et al. "Generic Development of Bin Pick-and-Place System Based on Robot Operating System." IEEE Access 10 (2022): 65257-65270.
[13] Goerke, Niklas, David Timmermann, and Ingmar Baumgart. "Who controls your robot? An evaluation of ROS security mechanisms." 2021 7th International conference on automation, robotics and applications (ICARA). IEEE, 2021.
[14] Niu, Haoyu, Tiebiao Zhao, and YangQuan Chen. "Intelligent bugs mapping and wiping (iBMW): An affordable robot-driven robot for farmers." 2019 IEEE International Conference on Mechatronics and Automation (ICMA). IEEE, 2019.
[15] Fischer, Tobias, et al. "A RoboStack Tutorial: Using the Robot Operating System Alongside the Conda and Jupyter Data Science Ecosystems." IEEE Robot ics & Automation Magazine 29.2 (2021): 65-74.
[16] Ramírez, Julio, et al. “Método para determinar el campo FOV de una cámara Robotiq y una cámara Cognex en condiciones de diseño no específicas.” Revista ELECTRO, Vol. 44 pp. 213-218, Oct 2022, Chihuahua, Chih. M éxico. http://electro.itchihuahua.edu.mx/revista. ISSN 1405-2172
CITAR COMO:
Julio César Ramírez Valenzuela, Ignacio Javier Vázquez Cuevas, Diana Belinda Hernández Barajas, Joana Inés Fabian Fabian, "Integración del Robot UR3 y Turtlebot 4 Mediante el Sistema Operativo ROS 2", Revista ELECTRO, Vol. 45, 2023, pp.196-201.
VERSIÓN PDF