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How to write program for control robot arm?

asked 2013-01-14 17:31:44 -0500

Soda gravatar image

updated 2013-01-29 05:22:45 -0500

I need help about step by step to write a program from first to last, ROS packages for used in this application so that specify the position of robot arm.

ex.

  1. Write a program for control hardware (Motor Control) Node.
  2. Use joint_state_publisher to ....blah blah blah ...........
  3. ....................................................................................

I need more details about in a beginner level for control forward kinematic of robot arm following the joint variables and I should write PID control in hardware node or other or not?

Thank you for all answers

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answered 2013-01-14 17:40:23 -0500

isura gravatar image

updated 2013-01-14 17:40:59 -0500

This is a great tutorial for what you want to do:

www.ros.org/wiki/arm_navigation/Tutorials/Running%20arm%20navigation%20on%20non-PR2%20arm

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I need more details about in a beginner level for control forward kinematic of robot arm following the joint variables and I should write PID control in hardware node or other or not?

Soda gravatar image Soda  ( 2013-01-29 05:14:53 -0500 )edit
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This answer by Martin Günther may be of some help in getting started: http://answers.ros.org/question/12182/controllers-vs-drivers/#18025

isura gravatar image isura  ( 2013-02-08 01:08:42 -0500 )edit

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Asked: 2013-01-14 17:31:44 -0500

Seen: 5,379 times

Last updated: Aug 30 '13