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control stepper motors with an arduino via ROS

asked 2017-11-15 08:25:41 -0600

nadaanas1988 gravatar image

updated 2017-11-15 09:16:08 -0600

bpinaya gravatar image

Hello,

I have a robotic Arm composed of stepper motors Nema 23 with encoders. I'm using an arduino Mega to control it. I want to build my arm with ROS. This arm will be used to grasp objects through inverse kinematics, after getting the object coordinates in the space.

I'm new to ROS and I need any help or steps on how to do it. Thank you

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answered 2017-11-15 09:04:24 -0600

bpinaya gravatar image

Hi there! I've done this before, it depends on which shield you are using to control it, I assume you are using a shield for Arduino right? There is one node already for a raspberry shield but I bet that is not the one you are using.

If you are using the ST L6470 stepper controller then check out this link. That is the node you should be using. If you are controlling the stepper directly from the Arduino from the digital pins, don't do that, since you'll probably kill your Arduino due to current use.

If you provide more info about the shield you are using I can help further.

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answered 2017-11-15 09:23:45 -0600

nadaanas1988 gravatar image

Hi, I'm planning to use the Nanotech SMCI35 stepper motor driver, but if you could advise us which stepper motor driver is easier (and we can find open-srouce codes) to use in ROS and compatible with our motors, it will be great.

Thanks

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They don't seem to provide support for ROS, but that doesn't mean you can't make it, check the links I posted in my answer and also this one!

bpinaya gravatar imagebpinaya ( 2017-11-15 09:28:46 -0600 )edit

Thank you so much for your help. Can you give us steps or documentation of what you did before, that will be very helpful because we are limited in time.

nadaanas1988 gravatar imagenadaanas1988 ( 2017-11-15 09:40:32 -0600 )edit

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Asked: 2017-11-15 08:25:41 -0600

Seen: 1,826 times

Last updated: Nov 15 '17