Utilization of Robotic Operating System (ROS) for control of collaborative robot UR3

The aim of the bachelor's thesis is to create a control program, its subsequent testing and verification of functionality for the collaborative robot UR3 from the company Universal Robots. The control program is written in python and integrates control options through the Robotic Operating System, where a defined point can be reached using pre-simulated trajectories of Q-learning, SARSA, Deep Q-learning, Deep SARSA, or using only the MoveIT framework. The thesis deals with a cross-section of the topics of collaborative robotics, Robotic Operating System, Gazebo simulation environment, feedback and deep feedback learning. Finally, the design and implementation of the control program with partial parts is described