@phdthesis{Dengg2020, type = {Master Thesis}, author = {Alexander Dengg}, title = {Integration of an industrial robot manipulator in ROS to enhance its spatial perception capabilities}, doi = {10.25924/opus-3984}, pages = {44}, year = {2020}, abstract = {Robots without any external sensors are not capable of sensing their environment, often leading to damaging collisions. These collisions could potentially be avoided if the robot had a way to sense its environment in the first place. This thesis attempts to tackle this problem by equipping such a robot with extra sensor hardware for perceiving environmental objects. The robot used within this thesis is a KUKA LBR iiwa 7 R800. The goal is a robot capable of moving in an unseen environment without colliding with obstacles nearby. The research covers different sensor options, robots in cramped areas as well as algorithms and simulation topics. Software platforms and libraries used for the implementation are briefly introduced. Multiple infrared sensors are directly installed onto the robot manipulator. The extra sensors and the robot are integrated into the ROS middleware to create an application capable of sensing the robots’ environment and plan collision-free paths accordingly. The experiments show, that the low amount of available sensor data can not map the robots’ environment with enough detail. Additional problems, such as sensor noise corrupting parts of the generated map or the robot recognizing itself as an obstacle, lead to a negative result in total. In future work, the choice of sensors shall be reconsidered and tested upfront via simulation software.}, language = {en} }