Robot Arm with Closed loop Stepper Motors

asked 2017-03-02 21:38:55 -0500

DonSlaughter gravatar image

Good Day everyone, I am now to Ros but not to Programming. I am a bit familiar wit C and a little bit with C++ and Python and I know where to find answers to Code Problems. The Question I have is : Is it Possible with Ros to build a Robot Arm with Closed Loop Stepper Motors? They should be really strong. I am aiming to get an Arm able to carry at minimum 5KG. My first Idea is to use an Arduino to control the Stepper drivers/encoders and send them back to an Notebook Running ROS (Kinetic). The Motors should get an gearbox so precise Position is really important. 4X Nema 23 and 2 Smaller Stepper Motors should do the trick but I am not really sure.

The Robot should be controlled with a PC to get to exact Positions and with should also be controllable with Joysticks. If it is Possible I would first start with 2 Nema 23 and build the System from the bottom on. I know that the Mathematics are very complex but this Project could least one year.

I couldn't find any Packages for Stepper Motors with Ros and Arduino (small ones and big ones). Or is Ros the wrong Software to Build an Strong Robot.

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ROS is not for low level control. Basically your task is to write a ROS adapter for your Hardware and the rest (mathematics..) is solved by ROS, see Moveit Concepts

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-03-03 02:26:55 -0500 )edit

To nuance @Humpelstilzchen's comment a bit: 'low-level control' in ROS is typically delegated to either HW or a dedicated node that interacts with the HW and exposes appropriate higher-level services / topics / actions. For that node, I would look at ros_control, especially hardware_interface.

gvdhoorn gravatar image gvdhoorn  ( 2017-03-03 05:37:03 -0500 )edit