International Research Journal of Education and Technology

Robotic systems have become integral to automation in various industries, necessitating precise control and validation techniques. Traditional methods of developing robotic control frameworks often depend on physical hardware, leading to increased costs and risks in early-stage testing. To address this, simulation environments such as Gazebo, combined with advanced middleware like ROS2 (Robot Operating System 2), provide a safe, scalable platform for developing and testing manipulator control strategies.

ROS2 introduces enhanced modularity, real-time capabilities, and robust communication protocols, making it an ideal choice for controlling complex robotic manipulators. Gazebo, with its realistic physics engine, complements ROS2 by allowing developers to simulate manipulator tasks, refine controller parameters, and test algorithms under various conditions without hardware dependencies. This study focuses on integrating ROS2 control with Gazebo to implement joint position and trajectory control on a manipulator arm, optimizing parameters for accurate motion execution. The approach involves configuring URDF (Unified Robot Description Format) models, developing ROS2 nodes for feedback and control, and employing trajectory planners to simulate complex manipulation tasks.

The findings underscore the potential of ROS2 and Gazebo in creating adaptable, scalable robotic control systems for applications in industrial automation,

medical robotics, and academic research. By leveraging simulation for development and testing, this framework minimizes risks, accelerates deployment, and sets a foundation for advancing robotics across diverse sectors.

Key Words: Robotic Manipulators, ROS2, Gazebo Simulation, Unified Robot Description Format (URDF), Real-Time Feedback, Trajectory Planning, Industrial Automation, Robot Control Frameworks, Modular Design