Tutorials
The role of the tutorials is to provide a platform for a more intensive scientific exchange amongst researchers interested in a particular topic and as a meeting point for the community. Tutorials complement the depth-oriented technical sessions by providing participants with broad overviews of emerging fields. A tutorial can be scheduled for 1.5 or 3 hours.
Tutorial proposals are accepted until:
September 14, 2026
If you wish to propose a new Tutorial please kindly fill out and submit this
Expression of Interest form.
Tutorial on
Designing an Industrial Robot within the ROS2 Environment, Forward Kinematics, Inverse Kinematics, and Motion Planning
Instructor
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Mojtaba Ahmadieh Khanesar
University of Nottingham
United Kingdom
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Short Bio
Mojtaba Ahmadieh Khanesar (Senior Member, IEEE) received a B.Sc., M.Sc and a Ph.D. in electronic and electrical engineering from the K. N. Toosi University of Tech., Tehran, Iran, in 2005, 2007, and 2012, respectively. He has held research and teaching positions in Ira, Denmark, and United Kingdom. He had a visiting PhD position in Bogazici University, Turkey. Since May 2018, he has been working as a Research Fellow at the University of Nottingham, United Kingdom. His current research interests include metrology, robotic, machine learning, and control. He has coauthored two books and authored or co-authored more than 130 papers that have appeared in various journals and conference proceedings. Dr. Khanesar has served as an associate editor of Complex and Intelligent Systems, an academic editor of Complexity, and a member of editorial board of Discover Mechanical Engineering.
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Abstract
Gazebo serves as the simulation platform for the ROS2 industrial software suite, providing a visual environment for planning pathways and optimising industrial robots. This environment enables the simulation of various types of robots, including Universal Robots, KUKA, and ABB robots. This tutorial explores the procedures for simulating industrial robots in ROS2, with a particular focus on path planning. By the end of the tutorial, participants can expect to learn how to build a simulation environment for industrial robots and to understand forward and inverse kinematics solutions, as well as path planning techniques, for these robots.
Keywords
Robotic operating system, ROS2, Gazebo, forward kinematics, inverse kinematics, path planning
Aims and Learning Objectives
Learn to build a simulation environment for the industrial robot in Gazebo
- Learn forward kinematics solutions in Gazebo
- Learn inverse kinematics solutions in Gazebo
- Learn about the path planning of the industrial robots in Gazebo
Target Audience
Postgraduate researchers, PhD students
Prerequisite Knowledge of Audience
Knowledge of programming languages, especially Python.
Detailed Outline
Gazebo, an integrated simulation environment within ROS2, is a vital resource for simulation, optimisation, and planning of industrial robotic motion. This tutorial offers in-depth guidance on developing and improving industrial robot simulation models, which is especially useful for engineers, researchers, and robotics/control specialists looking to enhance robotic performance. After this course, you'll have a solid understanding of simulation environments, kinematic solutions, and path-planning strategies, preparing you for practical applications in industrial automation and robotics development.