Simulation of a simple robotic arm to perform pick-and-place tasks.
The manipulator is created in Matlab with the Robotics Toolbox.
A ROS state-machine, running locally or remotely, instructs the robot to move to the position of the target object; the arm reaches the desired location by means of a computed-torque controller, picks the item and eventually places it where desired with fair precision.
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- Robotics Toolbox by Peter Corke
- ROS smach
Matlab
Install the Robotics Toolbox following the instructions in the official website
ROS
cd ros/catkin_ws
catkin build
source devel/setup.bash
Matlab
Run main.m
ROS
rosrun pick_and_place_controller state_machine.py
Visualize the state machine with:
rosrun smach_viewer smach_viewer.py