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Hancheol Choi edited this page May 17, 2020
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arm-control wiki page 입니다. 이 Tutorial은 로봇 팔 제어에 대해 다룹니다. 가장 간단한 축별 pid 제어부터 multi-body dynamics를 이용한 model-based control까지 다룹니다. 알고리즘은 ros-control framework를 기반으로 구현하였고, gazebo 상에서 simulation으로 테스트하였습니다.
Welcome to the arm-control wiki! This tutorial introduces manipulator control to you. It covers from independent joint pid control to model-based control using multi-body dynamics. All algorithms were implemented upon ros-control framework, and then tested through ros gazebo simulation.
- Home
- Big Picture about 'How to Move Manipulator'
- Quick Introduction to Robotics
- Introduction to ROS Control
- Position Control
- Independent Joint Control
- Model-based Control
- Indirect Force Control
- Direct Force Control