This repository provides advanced motion planning in ROS for KUKA robots in Additive Manufacturing applications. It integrates ROS and MoveIt! for precise control, focusing on the unique challenges of additive manufacturing processes.
Watch on YouTube: KUKA Robot Advanced Motion Planning for Additive Manufacturing
This video demonstrates the control of a KUKA robot using ROS and MoveIt! motion planning for additive manufacturing applications.
- Operating System: Ubuntu 20.04
- ROS Distribution: ROS Noetic
- Additional Dependencies:
- MoveIt! motion planning framework
- KUKA Robot Support Packages
Follow the repository setup instructions to install the necessary dependencies and configure your ROS workspace.
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Advanced Manipulation Package:
This part of the code is modified from the following GitHub repository and paper:- GitHub: Advanced Manipulation MoveIt
- Paper: Malvido Fresnillo, P., Vasudevan, S., Mohammed, W. M., Martinez Lastra, J. L., & Perez Garcia, J. A. (2023). Extending the motion planning framework—MoveIt with advanced manipulation functions for industrial applications. Robotics and Computer-Integrated Manufacturing, 83, 102559. DOI:10.1016/j.rcim.2023.102559
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Other References:
- Chen, L., Yao, X., Xu, P., Moon, S.K., Bi, G., 2021. Rapid surface defect identification for additive manufacturing with in-situ point cloud processing and machine learning. Virtual and Physical Prototyping, 16, 50–67. DOI:10.1080/17452759.2020.1832695
- Xu, P., Yao, X., Chen, L., Zhao, C., Liu, K., Moon, S.K., & Bi, G., 2022. In-process adaptive dimension correction strategy for laser-aided additive manufacturing using laser line scanning. Journal of Materials Processing Technology, 303, 117544. DOI:10.1016/j.jmatprotec.2022.117544
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Contributors to the repository: Jeevadithyan Pommiah Sivakumar, Chen Lequn