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The document outlines the operation of a robot arm that follows a structured motion plan for precise object manipulation, utilizing an ESP32 microcontroller for servo control. It details specific movements, including straight-line motions and joint rotations, to enhance the arm's functionality. Additionally, it describes the MoveIt Task Constructor for modular motion planning in pick and place tasks within ROS 2.

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Jawad ahmed Khan
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7 views

Presentation4 (1)

The document outlines the operation of a robot arm that follows a structured motion plan for precise object manipulation, utilizing an ESP32 microcontroller for servo control. It details specific movements, including straight-line motions and joint rotations, to enhance the arm's functionality. Additionally, it describes the MoveIt Task Constructor for modular motion planning in pick and place tasks within ROS 2.

Uploaded by

Jawad ahmed Khan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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• The robot arm follows a structured

motion plan for precise object


manipulation. This includes straight-
line movements, twisting motions,
and joint-specific rotations, ensuring
accuracy and collision avoidance.
ESP32: controlling
servos
A low-cost, dual-core microcontroller with
built-in Wi-Fi and Bluetooth.

• Offers precise PWM control and GPIO


flexibility for servo integration.
• Links to ESP32 via GPIO pins, powered
externally, driving robotic arm motion.
• Enables accurate servo positioning for
gripping and placing objects.
• Manages multiple servos in real time,
enhancing arm functionality.

•
• Straight-line movements of the arm’s gripper (end-effector) relative to the base_link coordinate frame:
• 5 cm in the positive x direction
• 2 cm in the negative y direction
• A twisting movement of the arm relative to the base_link coordinate frame:
• 18-degree rotation around the z-axis
• Moving specific joints of the arm by absolute amounts:
• Rotating “link1_to_link2” joint by 15 degrees
• Rotating “link3_to_link4” joint by -15 degrees
• Returning to the starting “ready” position smoothly
MoveIt Task Constructor - Pick Sequence

• MoveIt Task Constructor (MTC)


enables modular motion planning for
pick and place tasks in ROS 2.
• The Pick Sequence consists of
multiple steps to ensure a smooth
and collision-free grasping process.

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