iGPS based motion control of robotic manipulator using Robot Operating System (ROS)

Master's thesis at Institut für Getriebetechnik und Maschinendynamik (IGM), RWTH Aachen, Germany
October 2016 - March 2017
German Advisor: Univ.-Prof. Burkhard Corves, RWTH Aachen
Indian Advisor: Dr. Sourav Rakshit, IIT Madras

• Part of 'Center of Advanced Robotics (COAR)' group at IGM
• Devised algorithms for accurate control of robotic manipulator using indoor GPS (iGPS) feedback
• Developed ROS packages for iGPS based motion control of Universal Robot-5 manipulator
• Evaluated accuracy of iGPS based motion control algorithms using Gazebo model and actual UR-5 robot

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