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# Writing Robot Dynamics Based Control in ROS

Please excuse me if my question is too basic. I have gone through ROS control package and moveit etc. But, I want to test my own controller. My question is simple. How can I do this? For example, I want to write my controller like

M(q)q_ddot + C(q,q_dot)q_dot +G(q) = tau


and so I design my control law "tau" as

tau = M^-1(a_q) + C(q,q_dot)q_dot + G(q)


Can anyone guide me for the steps I should take? I have modeled my robot in ROS using URDF etc. Now, I want to evaluate my own control law.

I have been following book Learning ROS for robotics programming and Mastering ROS for robotics programming but I could not understand this. Your words will be highly appreciable. Thanks.

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With ROS control you should have a controller for each joint, so you would apply the results of tau to each joint. Do you already have the control law written?

( 2016-10-30 16:45:07 -0600 )edit

Thanks. I have simulated this in Matlab but I don't know how to do it in ROS. It will be great if you could guide me in steps the procedure to do that. It will be highly appreciated.

( 2016-10-30 20:38:58 -0600 )edit

Thank you so much for your comment. I am going to follow your link thoroughly. Please, put your link in the answer so that I may accept it. It was a great tutorial and it was exactly I was looking for.

( 2016-10-31 07:25:52 -0600 )edit

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You need to create a joint effort controller for each actuated joint. Then you send a force/torque command to the controllers based on your control law computation. Here is a tutorial I wrote a little while back for it.

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Asked: 2016-10-30 03:25:20 -0600

Seen: 1,560 times

Last updated: Oct 31 '16