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293681

Upgrading Gryphon PUMA Robot Arm Using ROS-MoveIt

Article

Last updated: 28 Dec 2024

OverviewSimilar Items

Subjects

-

Tags

Mechatronics Engineering

Abstract

 Industrial and old lab robotic equipment can be upgraded and reused in
very sophisticated applications such as robot arms if provided with an efficient
modular program or framework such as ROS (Robotics Operating system). In this
paper, we replace the old control system of the 5-DOF robot arm (complete
Gryphon Package 35-002-c) with the help of ROS MoveIt Motion Planning
Framework package to control motion planning and generate joints angles, URDF
(Unified Robot Description format) used to create the robot model for ROS. The
microcontroller is used to move the five stepping motors to move the end effector
in the desired pose: position and orientation using ROS and MoveIt capability.
Thus, the robot should be upgradeable, and anyone who has ROS basic skills can
improve the arm functionality to use it in any desired application.

DOI

10.21608/msaeng.2023.293681

Keywords

ROS1 (Robotics Operating system), MoveIt, Robotic manipulator, gryphon robot, 5 DOF industrial robot arm

Authors

First Name

Ahmed

Last Name

Newir

MiddleName

E.

Affiliation

Mechatronics Department, Faculty of Engineering, October 6 University, October, Egypt

Email

ahmed_newir.eng@o6u.edu.eg

City

october

Orcid

0000-0001-5979-2282

First Name

Youssef

Last Name

Abdelfattah

MiddleName

A

Affiliation

Mechatronics Department, Faculty of Engineering, October 6 University, October, Egypt

Email

youssefabdelmajeed77@gmail.com

City

-

Orcid

0009-0007-9623-3413

First Name

Mostafa

Last Name

Rashed

MiddleName

M.

Affiliation

mechatronics Department, Faculty of Engineering, October 6 University, October, Egypt

Email

mostafarashed11001@gmail.com

City

october

Orcid

-

Volume

2

Article Issue

2

Related Issue

40382

Issue Date

2023-03-01

Receive Date

2023-04-03

Publish Date

2023-03-01

Page Start

1,212

Page End

1,224

Print ISSN

2812-5339

Online ISSN

2812-4928

Article File

MSAENG_Volume 2_Issue 2_Pages 1212-1224.pdf

PDF . 701.6kB

Link

https://msaeng.journals.ekb.eg/article_293681.html

Detail API

https://msaeng.journals.ekb.eg/service?article_code=293681

Order

293,681

Type

Original Article

Type Code

2,183

Publication Type

Journal

Publication Title

MSA Engineering Journal

Publication Link

https://msaeng.journals.ekb.eg/

MainTitle

Upgrading Gryphon PUMA Robot Arm Using ROS-MoveIt

Details

Type

Article

Created At

28 Dec 2024