Dynamics of 6 Dof manipulator robot on robot operating system.

Manipulator Robot is a robot shaped like a human arm. This robot has been widely developed, and used in various sectors such as industry, medical, and military. One of the most popular applications of manipulator robots in industrial fields is sorting. Sorting is the activity of separating very many objects to be placed in the appropriate place. Often when sorting, the objects that are lifted have different loads. Therefore, we need a control that can move the manipulator robot remain stable without producing a large error. This proposal discusses the design of a dynamic simulation of a 6 DoF manipulator robot into a small-scale model of an industrial robot. Simulation is used to save costs and avoid component damage during testing. Robot modeling is formed using the features of ROS, namely URDF (Unified Robot Description Format), which will then be displayed in the Gazebo application. PID controller is used to control each joint on the robot so that the robot remains stable when moving. In this study, testing will be carried out by means of the robot will lift several loads with different weights. A node will display the result of the angle error from each joint in the robot on the ros, namely rqt_plot. [ABSTRACT FROM AUTHOR]