Real-Time Motion Control of a Spark Robot Using the Robot Operating System and MATLAB

Wei Jie Tang; Feng Shou Gu; Rong Feng Deng; Zhen Tao Liu; Shao Yong Cao; Gui Ping Lu

doi:10.1007/978-3-030-57745-2_61

Real-Time Motion Control of a Spark Robot Using the Robot Operating System and MATLAB

Wei Jie Tang, Feng Shou Gu, Rong Feng Deng, Zhen Tao Liu, Shao Yong Cao, Gui Ping Lu

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

With the rapid development of science and technology, robots begin to penetrate into people’s daily life from the industrial field or other special fields, and the development of robotics technology is becoming simpler. As an open source meta-operation system for robots, ROS has been recognized by many developers because of its outstanding advantages, which has become a standardized platform for robotic development. MATLAB has powerful data processing ability and graphical programming, by which a large number of mature algorithms can be used. Combining MATLAB with ROS, it can greatly reduce the difficulty of robot development. This paper presents a convenient and fast method for robot motion control. It takes a Spark robot as the development object to realize and study the performance of tracking a moving object. Spark is a two-wheel differential-controlled robot with multiple infrared obstacle avoidance sensors, which can be equipped with depth cameras, laser sensors, infrared imaging sensors, sound sensors and other instruments, being suitable for online condition inspection and monitoring. Experimental evaluation show that the proposed method allows the realization of different motions, verifying that this application development method can meet the requirement for not only the performances but being convenient and fast that can be achieved with little programming skills.

Original language	English
Title of host publication	Advances in Asset Management and Condition Monitoring, COMADEM 2019
Editors	Andrew Ball, Len Gelman, B.K.N. Rao
Publisher	Springer, Cham
Pages	731-740
Number of pages	10
Volume	166
ISBN (Electronic)	9783030577452
ISBN (Print)	9783030577445
DOIs	https://doi.org/10.1007/978-3-030-57745-2_61
Publication status	Published - 28 Aug 2020
Event	32nd International Congress and Exhibition on Conditioning Monitoring and Diagnostic Engineering Management Conference - University of Huddersfield, Huddersfield, United Kingdom Duration: 3 Sept 2019 → 5 Sept 2019 Conference number: 32 http://www.comadem2019.com/ (Link to Conference Website)

Publication series

Name	Smart Innovation, Systems and Technologies
Publisher	Springer
Volume	166
ISSN (Print)	2190-3018
ISSN (Electronic)	2190-3026

Conference

Conference	32nd International Congress and Exhibition on Conditioning Monitoring and Diagnostic Engineering Management Conference
Abbreviated title	COMADEM 2019
Country/Territory	United Kingdom
City	Huddersfield
Period	3/09/19 → 5/09/19
Internet address	http://www.comadem2019.com/ (Link to Conference Website)

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Access to Document

10.1007/978-3-030-57745-2_61Licence: Unspecified

Cite this

Tang, W. J., Gu, F. S., Deng, R. F., Liu, Z. T., Cao, S. Y., & Lu, G. P. (2020). Real-Time Motion Control of a Spark Robot Using the Robot Operating System and MATLAB. In A. Ball, L. Gelman, & B. K. N. Rao (Eds.), Advances in Asset Management and Condition Monitoring, COMADEM 2019 (Vol. 166, pp. 731-740). (Smart Innovation, Systems and Technologies; Vol. 166). Springer, Cham. https://doi.org/10.1007/978-3-030-57745-2_61

@inproceedings{10fefcb52ff44fafb01568a451b64f86,

title = "Real-Time Motion Control of a Spark Robot Using the Robot Operating System and MATLAB",

abstract = "With the rapid development of science and technology, robots begin to penetrate into people{\textquoteright}s daily life from the industrial field or other special fields, and the development of robotics technology is becoming simpler. As an open source meta-operation system for robots, ROS has been recognized by many developers because of its outstanding advantages, which has become a standardized platform for robotic development. MATLAB has powerful data processing ability and graphical programming, by which a large number of mature algorithms can be used. Combining MATLAB with ROS, it can greatly reduce the difficulty of robot development. This paper presents a convenient and fast method for robot motion control. It takes a Spark robot as the development object to realize and study the performance of tracking a moving object. Spark is a two-wheel differential-controlled robot with multiple infrared obstacle avoidance sensors, which can be equipped with depth cameras, laser sensors, infrared imaging sensors, sound sensors and other instruments, being suitable for online condition inspection and monitoring. Experimental evaluation show that the proposed method allows the realization of different motions, verifying that this application development method can meet the requirement for not only the performances but being convenient and fast that can be achieved with little programming skills.",

keywords = "MATLAB, Motion control, Online condition monitoring, Robot, ROS",

author = "Tang, \{Wei Jie\} and Gu, \{Feng Shou\} and Deng, \{Rong Feng\} and Liu, \{Zhen Tao\} and Cao, \{Shao Yong\} and Lu, \{Gui Ping\}",

year = "2020",

month = aug,

day = "28",

doi = "10.1007/978-3-030-57745-2\_61",

language = "English",

isbn = "9783030577445",

volume = "166",

series = "Smart Innovation, Systems and Technologies",

publisher = "Springer, Cham",

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editor = "Andrew Ball and Len Gelman and B.K.N. Rao",

booktitle = "Advances in Asset Management and Condition Monitoring, COMADEM 2019",

address = "Switzerland",

note = "32nd International Congress and Exhibition on Conditioning Monitoring and Diagnostic Engineering Management Conference, COMADEM 2019 ; Conference date: 03-09-2019 Through 05-09-2019",

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Tang, WJ, Gu, FS, Deng, RF, Liu, ZT, Cao, SY & Lu, GP 2020, Real-Time Motion Control of a Spark Robot Using the Robot Operating System and MATLAB. in A Ball, L Gelman & BKN Rao (eds), Advances in Asset Management and Condition Monitoring, COMADEM 2019. vol. 166, Smart Innovation, Systems and Technologies, vol. 166, Springer, Cham, pp. 731-740, 32nd International Congress and Exhibition on Conditioning Monitoring and Diagnostic Engineering Management Conference, Huddersfield, United Kingdom, 3/09/19. https://doi.org/10.1007/978-3-030-57745-2_61

Real-Time Motion Control of a Spark Robot Using the Robot Operating System and MATLAB. / Tang, Wei Jie; Gu, Feng Shou; Deng, Rong Feng et al.
Advances in Asset Management and Condition Monitoring, COMADEM 2019. ed. / Andrew Ball; Len Gelman; B.K.N. Rao. Vol. 166 Springer, Cham, 2020. p. 731-740 (Smart Innovation, Systems and Technologies; Vol. 166).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Real-Time Motion Control of a Spark Robot Using the Robot Operating System and MATLAB

AU - Tang, Wei Jie

AU - Gu, Feng Shou

AU - Deng, Rong Feng

AU - Liu, Zhen Tao

AU - Cao, Shao Yong

AU - Lu, Gui Ping

N1 - Conference code: 32

PY - 2020/8/28

Y1 - 2020/8/28

N2 - With the rapid development of science and technology, robots begin to penetrate into people’s daily life from the industrial field or other special fields, and the development of robotics technology is becoming simpler. As an open source meta-operation system for robots, ROS has been recognized by many developers because of its outstanding advantages, which has become a standardized platform for robotic development. MATLAB has powerful data processing ability and graphical programming, by which a large number of mature algorithms can be used. Combining MATLAB with ROS, it can greatly reduce the difficulty of robot development. This paper presents a convenient and fast method for robot motion control. It takes a Spark robot as the development object to realize and study the performance of tracking a moving object. Spark is a two-wheel differential-controlled robot with multiple infrared obstacle avoidance sensors, which can be equipped with depth cameras, laser sensors, infrared imaging sensors, sound sensors and other instruments, being suitable for online condition inspection and monitoring. Experimental evaluation show that the proposed method allows the realization of different motions, verifying that this application development method can meet the requirement for not only the performances but being convenient and fast that can be achieved with little programming skills.

AB - With the rapid development of science and technology, robots begin to penetrate into people’s daily life from the industrial field or other special fields, and the development of robotics technology is becoming simpler. As an open source meta-operation system for robots, ROS has been recognized by many developers because of its outstanding advantages, which has become a standardized platform for robotic development. MATLAB has powerful data processing ability and graphical programming, by which a large number of mature algorithms can be used. Combining MATLAB with ROS, it can greatly reduce the difficulty of robot development. This paper presents a convenient and fast method for robot motion control. It takes a Spark robot as the development object to realize and study the performance of tracking a moving object. Spark is a two-wheel differential-controlled robot with multiple infrared obstacle avoidance sensors, which can be equipped with depth cameras, laser sensors, infrared imaging sensors, sound sensors and other instruments, being suitable for online condition inspection and monitoring. Experimental evaluation show that the proposed method allows the realization of different motions, verifying that this application development method can meet the requirement for not only the performances but being convenient and fast that can be achieved with little programming skills.

KW - MATLAB

KW - Motion control

KW - Online condition monitoring

KW - Robot

KW - ROS

UR - https://www.scopus.com/pages/publications/85091275568

UR - https://www.springer.com/gb/book/9783030577445

U2 - 10.1007/978-3-030-57745-2_61

DO - 10.1007/978-3-030-57745-2_61

M3 - Conference contribution

AN - SCOPUS:85091275568

SN - 9783030577445

VL - 166

T3 - Smart Innovation, Systems and Technologies

SP - 731

EP - 740

BT - Advances in Asset Management and Condition Monitoring, COMADEM 2019

A2 - Ball, Andrew

A2 - Gelman, Len

A2 - Rao, B.K.N.

PB - Springer, Cham

T2 - 32nd International Congress and Exhibition on Conditioning Monitoring and Diagnostic Engineering Management Conference

Y2 - 3 September 2019 through 5 September 2019

ER -

Tang WJ, Gu FS, Deng RF, Liu ZT, Cao SY, Lu GP. Real-Time Motion Control of a Spark Robot Using the Robot Operating System and MATLAB. In Ball A, Gelman L, Rao BKN, editors, Advances in Asset Management and Condition Monitoring, COMADEM 2019. Vol. 166. Springer, Cham. 2020. p. 731-740. (Smart Innovation, Systems and Technologies). Epub 2020 Aug 28. doi: 10.1007/978-3-030-57745-2_61

Real-Time Motion Control of a Spark Robot Using the Robot Operating System and MATLAB

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UN SDGs

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