Kategorie: ‘ROS’
Industrial project Trapo Loading System
Image source: Pressemitteilung Trapo AG
IGMR – RWTH Aachen supports Trapo AG in the development and integration of trajectory planning and trajectory execution algorithms, environment perception and communication with the PLC for the new Trapo Loading System robot.
Link to the press release of Trapo AG:
https://www.trapo.de/de/presse/artikel/das-tls-3600-entzerrt-die-gefahrenzone-im-be-und-entladebereich/
Contact person:
Stefan Bezrucav
Markus Schmitz
SLAM validation using iGPS
For the validation of localization and mapping algorithms (SLAM) for mobile robots, we use at IGMR the indoor Global Positioning System from Nikon.
SLAM is a classical problem in mobile robotics and still a current and challenging research topic. The current developments are focused in improving SLAM algorithms with respect to a high accuracy, generality, and robustness. For this reason, we validate our SLAM algorithms for mobile robotics with the Nikon iGPS which is used to generate a ground truth with a frequency of 40 Hz and an accuracy of 0.2 mm. In this way, critical inaccuracies and loop closure methods can be much better quantified and analyzed.
Project page:
Bots2Rec
Contact person:
Simon Schläger
WAAM simulation with ROS in Gazebo
Vincent Brünjes designed a Gazebo plug-in in his master‘s thesis to simulate multidirectional wire+arc additive manufacturing processes.
Contacts:
Execution of the planned actions in CoppeliaSim
Implementation of ROS Action Interfaces to connect the AI task planning framework ROSPlan with the simulation software CoppeliaSim
Contact person:
Task planning in industrial scenario
PDDL modeling, ROSPlan and Gazebo simulations are used to improve automatic scheduling algorithms for scenarios with collaborating actors.
Contact person:
Realistic simulations in Gazebo
At IGMR we develop complex simulation environments. Textures make them visually more realistic in simulation program Gazebo!
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