University of Twente Student Theses
Development of the low-level software architecture for the Sherpa robot arm
Boterenbrood, W. (2015) Development of the low-level software architecture for the Sherpa robot arm.
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| Abstract: | The SHERPA project aims to improve rescuing activities in alpine environments by using smart collaboration between humans and robots. Within the SHERPA work, a seven degrees of freedom robotic arm has been developed. The robotic arm is mounted on a ground rover and it needs to dock and undock the drones that need to swap their battery packs. In this BSc project, a low-level software interface has been developed that is able to drive the arm from ROS. A ROS software node is presented that can drive the motors in the arm over a CAN bus. The ROS software node supports driving motors on multiple CAN buses, can drive a differential pair of motors as two separate joints and is built in way that makes it relatively easy to add support formore types of CAN devices. A Graphical User Interface is provided to test the ROS software node. |
| Item Type: | Essay (Bachelor) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Programme: | Electrical Engineering BSc (56953) |
| Link to this item: | https://purl.utwente.nl/essays/93878 |
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