Robot Operating System Integrated Sensing System and Forward Kinematics of a robot manipulator of a Rescue Robot

摘要

The paper presents the work on the forward kinematics of the robotic arm and sensing block of a search and rescue robot. The forward kinematic modelling of the robot arm is used to model the position and orientation of the robot arm in space before and after a motion. The sensing block consists of various sensors such as Inertial Measurement Unit (IMU), Carbon Dioxide sensor, Atmospheric pressure and temperature sensor, Light Detection and Ranging Sensor (LiDAR) etc. All the sensors’ data are integrated with the Robot Operating System (ROS) platform. Sensors like temperature sensor, Carbon Dioxide sensor etc., are placed at the end effector location of the robotic arm. These sensors are used to gain more information about the environment traversed by the robot.