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connect ros with real robot

asked 2022-01-20 00:49:40 -0600

harish556 gravatar image

i have 6 dof robot arm in real-world and one in ros now i want to control it with ros using raspberry pi, i don't know how to start can somebody help with that

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Hi @harish556. Can you please provide more details. As it is the question is open ended.

Perhaps start with the type of 6DOF arm you are using, brand model, etc or if is it 3D printed what kind of servos you are using?

Can you explain what do you mean by: one in ros now? Do you mean in simulation?

osilva gravatar image osilva  ( 2022-01-20 12:23:09 -0600 )edit

@osilva thanks for the replay,i was making a model myself using servo brackets, so its a custom design and i am using mg995 servo motor, raspberry pi 4, and PCA9685 servo controller, yes i mean in simulation

harish556 gravatar image harish556  ( 2022-01-20 12:43:41 -0600 )edit

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answered 2022-01-21 08:40:43 -0600

osilva gravatar image

Thank you @harish556 for providing the additional information.

First thing you need to learn is how to control your servos with your RPI with you PCA9685 controller. There is an excellent tutorial from Adafruitthat I'd highly recommend: https://learn.adafruit.com/adafruit-d...

Also there is a driver you will need that can be found here: https://github.com/dheera/ros-pwm-pca...

Once you learn how to control servos, then you need to learn how to control 6DOF arms. I suggest you test this first in simulation. Start by applying forward kinematics first to ensure servos are working as expected, then inverse kinematics. To perform more advanced movements with your robotic arm, I suggest you learn how to use MoveIt!. Hope this helps you.

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Asked: 2022-01-20 00:49:40 -0600

Seen: 148 times

Last updated: Jan 21 '22