| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
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
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.
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
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!
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.
Asked: 2017-11-15 08:25:41 -0500
Seen: 4,009 times
Last updated: Nov 15 '17
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
