Utilization of Robotic Operating System (ROS) for control of collaborative robot UR3

Title: Utilization of Robotic Operating System (ROS) for control of collaborative robot UR3
Author: Juříček Martin
Supervisor: Parák Roman
[ABSTRACT]
The aim of the bachelor's thesis is to create a control program, its subsequent testing andverification of functionality for the collaborative robot UR3 from the company UniversalRobots. The control program is written in python and integrates control options throughthe Robotic Operating System, where a defined point can be reached using pre-simulatedtrajectories of Q-learning, SARSA, Deep Q-learning, Deep SARSA, or using only theMoveIT framework. The thesis deals with a cross-section of the topics of collaborativerobotics, Robotic Operating System, Gazebo simulation environment, feedback and deepfeedback learning. Finally, the design and implementation of the control program withpartial parts is described.
Link (Czech language only):
www.vutbr.cz/studenti/zav-pra...