Simulação robótica de manipuladores industriais utilizando softwares de código aberto: um estudo sobre a aplicabilidade destas ferramentas como recurso educacional, tecnológico e científico

Abstract

Robotic simulation of industrial manipulators offers possibilities for the agile development that the market requires within the context of Industry 4.0, in addition to allowing the use of its challenges for the active teaching of various disciplines, such as mathematics, physics, and programming, as it is a multidisciplinary area. Within the context of robotic simulation, this work proposes to evaluate the use of open source tools ROS, Moveit, and Gazebo, having as object of study, an analysis of trajectories, to then discuss their use as teaching, research, and development in the environment of the Federal Institute of Piauí Campus Central. For this, a brief bibliographical survey on tools used for robotic simulation was carried out. In an adjunct, a study of the fundamentals of Manipulator Robotics was carried out, contemplating the challenges of Kinematics, Dynamics, Control, and Trajectory Planning. Than, the parameters for the simulation were defined, from the official documents of the chosen manipulator, ABB of the Irb1200 5.90 model, and from the files of the Ros-Industrial repository, where they were created as dynamic and control variables. For kinematic modeling, the Product of Exponential model was used. For the trajectory, we used the file packages from the Joint_Trajectory_Control and to the control was used the Ros_Control in the trajectory control condition, both used in the GIT Ros_industrial repository. In general, it was possible to make the manipulator execute as Point to-Point, Parameterized, and Linear trajectories satisfactorily, but it was not possible, using the standard Moveit packages, to develop smooth velocity and acceleration curves, as recommended in the literature. Besides, the visualization of the position, velocity, and acceleration graphs was not done satisfactorily using ROS, so it was necessary to develop algorithms to improve the visualization of these data. In the context of education, the fundamental software is relevant due to not presenting acquisition cost, being able to execute the solutions in a safe and decentralized way of the Robot’s Hardware. In the context of research and development, it is necessary to use more sophisticated trajectory control models than those used in this work.