170111 大ゼミ2

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2017/1/11 A204

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Wakayama University Graduate School of System Engineering Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

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➢ ROS/MORSE

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https://www.openrobots.org/morse/doc/stable/user/robots/pr2.html

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FUJITSU, Vol.67, No.3, pp.39-44 2016

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Wakayama University Graduate School of System Engineering Robotics Laboratory

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RTM ROS

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Wakayama University Graduate School of System Engineering Robotics Laboratory

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※ : 1 1

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Wakayama University Graduate School of System Engineering Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

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1. 2. 3.

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Wakayama University Graduate School of System Engineering Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

➢ SLIM*

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* SLIM : Standard Language for Industrial Manipulators (JIS B 8439:1992)

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Wakayama University Graduate School of System Engineering Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

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, 19 , pp.624-630 2014

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Wakayama University Graduate School of System Engineering Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

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➢ TMS

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LRF IMU RFID RGBD

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Wakayama University Graduate School of System Engineering Robotics Laboratory

ROS-TMS

➢ ROS TMS

➢ LRF RFID

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➢ Choreonoid + graspPlugin

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Wakayama University Graduate School of System Engineering Robotics Laboratory

➢ SmartPal V Kinect RFID

➢ LRF RFID RFID

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Wakayama University Graduate School of System Engineering Robotics Laboratory

[Fig.6] LRF FSS

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[Fig.7] RFID

➢ RFID

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Wakayama University Graduate School of System Engineering Robotics Laboratory

TMS ROS-TMS ROS-TMS

➢ ROS

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Wakayama University Graduate School of System Engineering Robotics Laboratory

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➢ ROS/MORSE

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Wakayama University Graduate School of System Engineering Robotics Laboratory

ROS-TMS

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Wakayama University Graduate School of System Engineering Robotics Laboratory

ROS-TMS

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ROS-TMS

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Wakayama University Graduate School of System Engineering Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

MORSE Simulator

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✴ 60000

✴ telnet

MORSE Simulator

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Wakayama University Graduate School of System Engineering Robotics Laboratory