Kinematic chain with hydraulic actuator

kinetic
foxy

asked 2021-10-07 09:43:10 -0500

timRO
26 ●3 ●6 ●4

Hi all.

I have to control a robot with 4dof move by hydraulic cylinder. The angle between different parts of the machine was measuring, ok. I have successfully design and control my excavator into grazebo. But. Is it possible to control the robot by define stem speed of the hydraulic cylinder, not controlling the joint? All ROS robot I seen was control with joint angle, speed and sometime joint torque. Base on the information a have find to control a 4DoF robot, i think i have to use IK-fast solver. Is it possible with ros2 and IK-fast?

My mechanic structure look like this one :

image description

I have already use ros1 for navigation, and have experience with 6DoF robot but not with ros. Now it is time to start with ros2. Can anybody point me in the right direction?

Kind Regards

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answered 2021-10-08 07:45:53 -0500

AndyZe

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I don't think you will have any extra difficulties due to ROS2. There have been some previous questions about using IKFast with a 4-dof arm: https://answers.ros.org/question/2639...

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answered 2021-10-08 06:34:15 -0500

osilva

1650 ●3 ●172 ●19 https://github.com/rob...

The answer is yes you can use IKFast to control your 4DoF robot and usually with Moveitpackage that supports ROS 2.0 as well. Check these tutorials: https://github.com/ros-planning/movei.... However there still work to do as there is a request to help document and port tutorials from ROS 1.0, the concept is similar. Link for the latest:

http://moveit2_tutorials.picknik.ai/ but you will see the specific tutorial IKfast has not been ported yet. There will be a bit of work on your end. My suggestion make sure it works in ROS 1.0, then port it.

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