Anatomy of Robots - laboratory¶

General rules:¶

• The aim of laboratory is to learn basics of Robot Operating System (ROS), especially its support for manipulators.
• Students work in teams. Each team consist of 2 or 3 persons.
• Each task consist of three parts: 1) part realized during the labs, 2) homework, 3) documentation.
• Teams upload their source codes to GitHub using individual account of one of the members of the team and dedicated repository common for all tasks. Documentation should be created using wiki pages of the repository, where each task is documented on a separate page.
• In case of absence, team should catch up as soon as possible, as results of a task are used in next tasks.
• All members of team should work systematically and with full commitment.
• We are using ROS Kinetic distribution for Ubuntu 16.04. We recommend this setup for all students who want to work on their own PCs.

The plan of laboratories:¶

• Preparation
• Lab 1: Introduction to ROS
• Lab 2: Modelling and visualization of manipulator
• Lab 3: Forward kinematics
• Lab 4: Interpolation of motion
• Lab 5: Inverse kinematics