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.

edit retag flag offensive close merge delete

Comments

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 imageHumpelstilzchen ( 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 imagegvdhoorn ( 2017-03-03 05:37:03 -0500 )edit