Using Gazebo with ros_control for 3R robot arm

2014-10-15 00:00:00 +0000

Overview

We modified the 2R robot arm from RRBot repo to add a third link, making it a RRRBot.

RViz was used to Visualize the RRRBot

RViz was used throughout to visualize the RRRBot. More specifically, the camera feed and Hokuyo laser scanner map attached at the end-effector were monitored while using ros_control.

Gazebo was used with ros_control for Position Control

Gazebo was then used with ros_control to control the end-effector link to a desired trajectory. A position controller was used to accomplish this using PID control. Each link was commanded to follow a sine movement.

Torque Control with Added Mass at end of Third Link

An extension was then modified to use ros_control with torque control. A simple example was performed to stabilize the RRRBot to an unstable position. Next, we used torque control to maintain an unstable position while adding a mass (30% mass of third link) to the end-effector.

Github Repository

Our code is included in the following Github repository: gazebo_and_ros_control