Control y sensorización del brazo manipulador WidowX sobre una plataforma TURTLEBOT 2

En este trabajo fin de grado se desarrolla el control de un brazo robótico manipulador WidowX y su sensorización, todo ello montado sobre una plataforma TurtleBot 2. Este trabajo pretende integrar las funciones propias del brazo con las de una base móvil para ofrecer servicios de transporte y manipulación en un sistema de fabricación flexible. Para entender este conjunto se describen todos los equipos que lo componen. El control de todos estos dispositivos se realiza desde ROS (Robot Operating System) y se desarrolla la interacción de los equipos en este entorno.Throughout this document, the control of a WidowX robotic arm and its sensorization aredeveloped, mountedon top of a TurtleBot 2 structure. The aim of this project is to add the capabilities this robotic arm provides to a mobile base part of a flexible manufacturing system. Every piece of hardware isdescribed in order to grasp how everything interacts. The control of these devices is conducted using ROS (Robot Operating System). ROS’ working structure and how it manages the devices’ control are explained.Gradu amaierako lan honetan WidowX beso robotiko manipulatzailearen kontrolaeta honengainean zenbait sentsoreen kokapena garatzen dira,TurtleBot 2 robot mugikorraren gainean antolatua. Lan honek besoak ahalbidetzen dituen ekintzak ematen dizkio fabrikazio sistema malguko robot bati. Multzo hau osatzen duten gailu guztiak azaltzen dira. Gailu hauek kontrolatzeko ROS (Robot Operating System) erabiltzen da eta ingurune honetan nola komunikatzen direnazaltzen da

OpenFog-Compliant Application-Aware Platform: A Kubernetes Extension

Distributed computing paradigms have evolved towards low latency and highly virtualized environments. Fog Computing, as its latest iteration, enables the usage of Cloud-like services closer to the generators and consumers of data. The processing in this layer is performed by Fog Applications, which are decomposed into smaller components following the microservice paradigm and encapsulated into containers. Current state-of-the-art container orchestrators can manage hundreds of simultaneous containers. However, Kubernetes, being the de facto standard, does not consider the application itself as a top-level entity, which limits its orchestration capabilities. This raises the need to rearchitect Kubernetes to benefit from application-awareness, which refers to an orchestration method optimized for managing the applications and the set of components that comprise them. Thus, this paper proposes an application-aware and OpenFog-compliant architecture that manages applications as first-level entities during their lifecycle. Furthermore, the proposed architecture allows the definition of organizational structures to group subordinated applications based on user-defined hierarchies. This logical structuring makes it possible to outline how orchestration should be shaped to reflect the operating model of a system or an organization. The proposed architecture is implemented as a Kubernetes extension and provided as an operator.This research was funded by the project PES18/48 funded by the University of the Basque Country (UPV/EHU) and by the PhD fellowship granted under the frame of the PIF 2022 call funded by the University of the Basque Country (UPV/EHU), grant number PIF22/188

Control y sensorización del brazo manipulador WidowX sobre una plataforma TURTLEBOT 2

En este trabajo fin de grado se desarrolla el control de un brazo robótico manipulador WidowX y su sensorización, todo ello montado sobre una plataforma TurtleBot 2. Este trabajo pretende integrar las funciones propias del brazo con las de una base móvil para ofrecer servicios de transporte y manipulación en un sistema de fabricación flexible. Para entender este conjunto se describen todos los equipos que lo componen. El control de todos estos dispositivos se realiza desde ROS (Robot Operating System) y se desarrolla la interacción de los equipos en este entorno.Throughout this document, the control of a WidowX robotic arm and its sensorization aredeveloped, mountedon top of a TurtleBot 2 structure. The aim of this project is to add the capabilities this robotic arm provides to a mobile base part of a flexible manufacturing system. Every piece of hardware isdescribed in order to grasp how everything interacts. The control of these devices is conducted using ROS (Robot Operating System). ROS’ working structure and how it manages the devices’ control are explained.Gradu amaierako lan honetan WidowX beso robotiko manipulatzailearen kontrolaeta honengainean zenbait sentsoreen kokapena garatzen dira,TurtleBot 2 robot mugikorraren gainean antolatua. Lan honek besoak ahalbidetzen dituen ekintzak ematen dizkio fabrikazio sistema malguko robot bati. Multzo hau osatzen duten gailu guztiak azaltzen dira. Gailu hauek kontrolatzeko ROS (Robot Operating System) erabiltzen da eta ingurune honetan nola komunikatzen direnazaltzen da