制御系設計ソフトとROS2ネットワークを使用した6自由度ロボットアーム制御

抄録

In this study, ROS2 Network is used to remotely control a six-degrees-of-freedom robotic arm. Specifically, the goal is Hunam Hand Tracking, which performs hand detection processing on images from the 3D Camera and transmits the calculated control amount to the robot control computer. By achieving the goals of this research, it will be possible to visualize the control flow using MATLAB, and it will be possible to remotely transmit the generated control amount to the robot using the ROS2 network. In this study, we used MediaPipe and Simulink to generate robot control quantities. In the future, it will detect not only hands but also various objects, and generate control quantities in real time. Additionally, we assembled a 3D model by using MATLAB/Simulink, and a simple real-time motion simulation was performed using a ROS2 Subscriber. This allows the motion status of the remote robotic arm to be monitored on a local PC.