ROS based control of industrial robot arm

U ovom diplomskom radu dan je opis procesa prilagodbe ROS sustava za vođenje industrijskog robota tipa ABB IRB6640. Rad je podijeljen na pet dijelova. U uvodu se govori o razvoju industrijske robotike te o potencijalu ROS sustava za primjenu u industriji. Potom se daje opis glavnih koncepata i značajki ROS sustava korištenih za realizaciju zadatka uz osvrt na primjenu ROS sustava u obradnim sustavima. ABB robot, IRC5 kontroler te programski paket RobotStudio korišten za simulaciju vođenja robota kratko su opisani u trećem dijelu. U četvrtom, eksperimentalnom dijelu rada prikazan je razvoj i prilagodba ROS sustava od postavljanja sve do uspješne realizacije vođenja robota u laboratoriju. U posljednjem, petom dijelu donose se zaključci rada.This thesis describes the process of adaptation of ROS system for control of the ABB IRB6640 industrial robot arm. The thesis is divided into five sections. Development of industrial robotics along with potential industrial applications of ROS system are discussed in the introductory section of the thesis. The main concepts and features of ROS system used in the thesis are described and the review of the ROS based machining systems is presented in the second section. The ABB robotic arm, the IRC5 controller and RobotStudio software are briefly described in the third part of the thesis. The fourth part, that is the experimental part of the thesis presents the development and the adaptation of ROS beginning with the installation of the system leading to the successful control of the industrial robot arm. Concluding remarks are given in the final chapter of the thesis