Hardware interface for new arduino based rototic arm

asked 2020-07-14 00:53:19 -0600

Abhishekpg gravatar image

updated 2020-07-18 16:08:57 -0600

Hi

I have worked with aubo i5 robot and know the basics of ROS. But now im fabricating my own arduino based 3 Link robotic arm for my research purpose. But i don't know how to interface my robot with ROS. In robots like UR5 and aubo robots there is a robot driver to bring the robot up. So do i need to build any driver like that for my robot ?

i have done some research on this and found out we can use roserrial_arduino for communicating with arduino. Also i saw lot of comments about ros_control. But i really didn't understand what it is for. If anyone can give me a general guidelines to how to start with to make my robot ros compatible, it would be really helpful.

Thanks

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Comments

When you start talking about interfacing with a specific robot, you'll have to have precise details about the hardware you're connecting to, the languages used in the HW, the scope of control ROS needs to provide, etc

Do you have all that info worked out?

billy gravatar image billy  ( 2020-07-15 19:54:49 -0600 )edit

Actually what i need is a general guidline. Even though what im planning is arduino based hardware written in c programming. And its a 4 link robotic arm with a gripper to do the pick and place.

Abhishekpg gravatar image Abhishekpg  ( 2020-07-18 16:08:17 -0600 )edit

Have you worked out scope of control on the PC vs in the robot HW? Will the PC/ROS be doing PID loops or just path planning or just publishing end points? Is arduido talking to an industrial motion control unit from Bosch or is it counting encoder lines and outputting PWM to an H-Brdige? These sort of questions would apply to any project and would make a general guideline very very general. To answer your question, I am unaware any such guideline, but if you have questions for how to implement any piece of whatever you decided to move forward with, you can get help here or on other forums. You can be confident that you will be writing some custom code in ROS if you're writing custom code on the aurdino but don't let that discourage you.

billy gravatar image billy  ( 2020-07-19 14:51:49 -0600 )edit