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Writing Robot Dyncamics Based Control in ROS

Please excuse me if my question is too basic. I have gone through ROS control package and moveit etc. But, I want to test my own controller. My question is simple. How can I do this? For example, I want to write my controller like

M(q)q_ddot + C(q,q_dot)q_dot +G(q) = tau

and so I design my control law "tau" as

tau = M^-1(a_q) + C(q,q_dot)q_dot + G(q)

Can anyone guide me for the steps I should take? I have modeled my robot in ROS using URDF etc. Now, I want to evaluate my own control law.

I have been following book Learning ROS for robotics programming and Mastering ROS for robotics programming but I could not understand this. Your words will be highly appreciable. Thanks.

Writing Robot Dyncamics Based Control in ROS

Please excuse me if my question is too basic. I have gone through ROS control package and moveit etc. But, I want to test my own controller. My question is simple. How can I do this? For example, I want to write my controller like

M(q)q_ddot + C(q,q_dot)q_dot +G(q) = tau

and so I design my control law "tau" as

tau = M^-1(a_q) + C(q,q_dot)q_dot + G(q)

Can anyone guide me for the steps I should take? I have modeled my robot in ROS using URDF etc. Now, I want to evaluate my own control law.

I have been following book Learning ROS for robotics programming and Mastering ROS for robotics programming but I could not understand this. Your words will be highly appreciable. Thanks.