Integration of Research and Education On ROS-Interfaced Industrial Robots and Implementation of a Soft Robotic Gripper

Abstract

This thesis research focuses on developing a control and simulation environment for a robotic manipulator based on Robot Operating System (ROS) and its integration in a mechatronics course for educational purposes. ROS can be described as a middleware that facilitates the exchange of data and information between the hardware and the software and among different software scripts. The premise of the thesis is addressed by focusing on three main objectives: 1) integrate an origami-inspired custom end effector (gripper) with a UR5 robot (Universal Robotics Inc.) and establish the ROS-based middleware; 2) develop a ROS-based simulation of the physical workspace; and 3) create ROS lab materials for a senior-level engineering technology course and evaluate the students’ learning outcomes. The developments of this project are based on the need to incorporate a ROS-based project that could be directly applied to both research and educational purposes. The engineering challenges addressed in this project are developing a hardware testing platform, designing gripper mounting and sensing, addressing networking difficulties, and developing simulations for research and undergraduate educational labs. Research projects typically do not establish a direct connection to teach a course. Hence, this thesis explains the tools required to lower the learning curve for understanding how ROS works while highlighting potential hardware and software tools to execute and use ROS-based scripts on a real robot manipulator.