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Writing Robot Dynamics Based Control in ROS

asked 2016-10-30 03:25:20 -0500

updated 2016-10-31 07:41:05 -0500

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?

JoshMarino gravatar image JoshMarino  ( 2016-10-30 16:45:07 -0500 )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.

Abdul Mannan gravatar image Abdul Mannan  ( 2016-10-30 20:38:58 -0500 )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.

Abdul Mannan gravatar image Abdul Mannan  ( 2016-10-31 07:25:52 -0500 )edit

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answered 2016-10-30 21:40:10 -0500

JoshMarino gravatar image

updated 2016-10-30 21:42:01 -0500

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 -0500

Seen: 1,231 times

Last updated: Oct 31 '16