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 on
Path Planning, and Optimization of Industrial Robots within Gazebo, and ROS Environment
Instructor
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Mojtaba Ahmadieh Khanesar
University of Nottingham
United Kingdom
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Brief 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 ROS industrial software suite, offering a visual simulation space for planning pathways and optimizing industrial robots. Using this environment, it is possible to simulate different types of robots including universal robots, KuKA, and ABB robots. This tutorial delves into the simulation procedures for industrial robots within ROS industrial, providing an illustration of the path planning process. It is therefore expected for the audience to learn about
- building simulation environment for the industrial robot
- forward kinematics solutions
- inverse kinematics solutions
- path planning of the industrial robots.