Modelling, control and simulation of a robotic manipulator for obstacle avoidance
This project focuses on the modeling, control, and simulation of a UR5 robotic manipulator for effective obstacle avoidance. It utilizes CoppeliaSim for the simulation environment and Python for external control. CoppeliaSim provides a flexible and multi-functional platform for accurate modeling and...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2024
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| Online Access: | https://hdl.handle.net/10356/177017 |
| _version_ | 1826112649183625216 |
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| author | Luo, Qian |
| author2 | Hu Guoqiang |
| author_facet | Hu Guoqiang Luo, Qian |
| author_sort | Luo, Qian |
| collection | NTU |
| description | This project focuses on the modeling, control, and simulation of a UR5 robotic manipulator for effective obstacle avoidance. It utilizes CoppeliaSim for the simulation environment and Python for external control. CoppeliaSim provides a flexible and multi-functional platform for accurate modeling and simulation. It offers realistic physics foundation and rendering capabilities that enables feasible studies of UR5’s behaviors in complex environments. Python is known for its simple but powerful library ecosystem which enhance the efficient implementation of control algorithms and interacts seamlessly with CoppeliaSim via its remote API. The core objective of this project was to evaluate and compare the effectiveness of three different obstacle avoidance algorithms: Advanced Rapidly-exploring Random Trees (RRT), Probabilistic Roadmap Method (PRM), and Artificial Potential Field (APF). Each of these algorithms was implemented and tested to determine their performance in navigating the UR5 arm through obstacles during task execution. The results demonstrate that the UR5, equipped with the integrated simulation and control setup, successfully performs pick-and-place operations without collision. |
| first_indexed | 2024-10-01T03:10:32Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/177017 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:10:32Z |
| publishDate | 2024 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1770172024-07-05T15:41:12Z Modelling, control and simulation of a robotic manipulator for obstacle avoidance Luo, Qian Hu Guoqiang School of Electrical and Electronic Engineering GQHu@ntu.edu.sg Engineering Modelling Control Robotic manipulator for obstacle avoidance This project focuses on the modeling, control, and simulation of a UR5 robotic manipulator for effective obstacle avoidance. It utilizes CoppeliaSim for the simulation environment and Python for external control. CoppeliaSim provides a flexible and multi-functional platform for accurate modeling and simulation. It offers realistic physics foundation and rendering capabilities that enables feasible studies of UR5’s behaviors in complex environments. Python is known for its simple but powerful library ecosystem which enhance the efficient implementation of control algorithms and interacts seamlessly with CoppeliaSim via its remote API. The core objective of this project was to evaluate and compare the effectiveness of three different obstacle avoidance algorithms: Advanced Rapidly-exploring Random Trees (RRT), Probabilistic Roadmap Method (PRM), and Artificial Potential Field (APF). Each of these algorithms was implemented and tested to determine their performance in navigating the UR5 arm through obstacles during task execution. The results demonstrate that the UR5, equipped with the integrated simulation and control setup, successfully performs pick-and-place operations without collision. Bachelor's degree 2024-07-01T01:52:38Z 2024-07-01T01:52:38Z 2024 Final Year Project (FYP) Luo, Q. (2024). Modelling, control and simulation of a robotic manipulator for obstacle avoidance. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/177017 https://hdl.handle.net/10356/177017 en A1051-231 application/pdf Nanyang Technological University |
| spellingShingle | Engineering Modelling Control Robotic manipulator for obstacle avoidance Luo, Qian Modelling, control and simulation of a robotic manipulator for obstacle avoidance |
| title | Modelling, control and simulation of a robotic manipulator for obstacle avoidance |
| title_full | Modelling, control and simulation of a robotic manipulator for obstacle avoidance |
| title_fullStr | Modelling, control and simulation of a robotic manipulator for obstacle avoidance |
| title_full_unstemmed | Modelling, control and simulation of a robotic manipulator for obstacle avoidance |
| title_short | Modelling, control and simulation of a robotic manipulator for obstacle avoidance |
| title_sort | modelling control and simulation of a robotic manipulator for obstacle avoidance |
| topic | Engineering Modelling Control Robotic manipulator for obstacle avoidance |
| url | https://hdl.handle.net/10356/177017 |
| work_keys_str_mv | AT luoqian modellingcontrolandsimulationofaroboticmanipulatorforobstacleavoidance |