Upgrading Gryphon PUMA Robot Arm Using ROS-MoveIt

Document Type : Original Article

Authors

1 Mechatronics Department, Faculty of Engineering, October 6 University, October, Egypt

2 mechatronics Department, Faculty of Engineering, October 6 University, October, Egypt

Abstract

 Industrial and old lab robotic equipment can be upgraded and reused in
very sophisticated applications such as robot arms if provided with an efficient
modular program or framework such as ROS (Robotics Operating system). In this
paper, we replace the old control system of the 5-DOF robot arm (complete
Gryphon Package 35-002-c) with the help of ROS MoveIt Motion Planning
Framework package to control motion planning and generate joints angles, URDF
(Unified Robot Description format) used to create the robot model for ROS. The
microcontroller is used to move the five stepping motors to move the end effector
in the desired pose: position and orientation using ROS and MoveIt capability.
Thus, the robot should be upgradeable, and anyone who has ROS basic skills can
improve the arm functionality to use it in any desired application.

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MSA Engineering Journal
Volume 2, Issue 2 - Serial Number 6
Special issue for Artificial Intelligence & Sustainable Engineering
March 2023
Pages 1212-1224

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