Control of robotic manipulator using ROS / Saad Aidaoui

Public ISBD Titre : Control of robotic manipulator using ROS Type de document : document multimédia Auteurs : Saad Aidaoui, Auteur ; Hicham Bensarkha, Auteur ; Belkacem Rahmani, Directeur de thèse ; Ibrahim Khalil Oubbati, Directeur de thèse Editeur : Laghouat : Université Amar Telidji - Département d'électronique Année de publication : 2026 Importance : 61 p. Accompagnement : 1 disque optique numérique (CD-ROM) Note générale : Option : Automatic and systems Langues : Anglais (eng) Mots-clés : Robotic manipulator  UR5e  Collaborative robot  Computed torque control  Model-based control  ROS  Gazebo  Trajectory tracking  PID control Résumé : This thesis addresses the modeling and control of the Universal Robots UR5e 6-DOF collaborative manipulator. Complete forward and inverse kinematic models are derived using the modified Denavit–Hartenberg convention, alongside a full dynamic model obtained via the Euler–Lagrange formulation. Three joint-space control strategies—pure PD, PD with gravity compensation (PD+G), and Computed Torque Control (CTC)—are designed and comparatively evaluated. The CTC approach leverages the complete dynamic model to cancel nonlinearities and decouple the joints, transforming the system into independent linear double integrators. All controllers are implemented and validated in a ROS/Gazebo simulation environment. Results demonstrate that CTC achieves superior trajectory tracking accuracy and reduced steady-state error compared to both PD and PD+G, confirming the effectiveness of model-based control for the UR5e manipulator. note de thèses : Mémoire de master en électronique Control of robotic manipulator using ROS [document multimédia] / Saad Aidaoui, Auteur ; Hicham Bensarkha, Auteur ; Belkacem Rahmani, Directeur de thèse ; Ibrahim Khalil Oubbati, Directeur de thèse . - Laghouat : Université Amar Telidji - Département d'électronique, 2026 . - 61 p. + 1 disque optique numérique (CD-ROM). Option : Automatic and systems Langues : Anglais (eng) Mots-clés : Robotic manipulator  UR5e  Collaborative robot  Computed torque control  Model-based control  ROS  Gazebo  Trajectory tracking  PID control Résumé : This thesis addresses the modeling and control of the Universal Robots UR5e 6-DOF collaborative manipulator. Complete forward and inverse kinematic models are derived using the modified Denavit–Hartenberg convention, alongside a full dynamic model obtained via the Euler–Lagrange formulation. Three joint-space control strategies—pure PD, PD with gravity compensation (PD+G), and Computed Torque Control (CTC)—are designed and comparatively evaluated. The CTC approach leverages the complete dynamic model to cancel nonlinearities and decouple the joints, transforming the system into independent linear double integrators. All controllers are implemented and validated in a ROS/Gazebo simulation environment. Results demonstrate that CTC achieves superior trajectory tracking accuracy and reduced steady-state error compared to both PD and PD+G, confirming the effectiveness of model-based control for the UR5e manipulator. note de thèses : Mémoire de master en électronique

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