Joint Space PID Control of Robot Manipulators in ROS

Course Project for RBE500 - Foundations of Robotics (Fall 2021)

Master of Science in Robotics Engineering at Worcester Polytechnic Institute

Group Members: -

• Bhushan Ashok Rane
• Yash Rajendra Patil

Project Description

Dependencies

• ROS Distro : Noetic v1.15.13

• OS : Ubuntu 20.04 LTS

• Install the ROS dependencies using the following command:

  sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control
  

• To run this project, you need to clone the following additional repository in the /src of your ROS workspace

  rrp_robot

  git clone https://github.com/ranebhushan/rrp_robot.git
  

Usage Guidelines

• To run this project, you will need to clone this repository in the /src of your ROS workspace

  git clone https://github.com/ranebhushan/PID_Control_RRP.git
  

• Build your ROS workspace using either catkin_make or catkin build (depending on how your workspace was created)

• Open your ROS workspace in terminal and run the following command:

  source devel/setup.bash
  

• Launch the RRP robot manipulator in Gazebo Simulation Environment using by the following command:

  roslaunch rrp_gazebo gazebo.launch
  

• Once the robot is successfully spawned in Gazebo, open a new terminal and launch the effort controller node and the joint state publisher by using the following command:

  roslaunch rrp_control rrp_effort_control.launch
  

• Start the robot motion to targte positions using the following command:

  roslaunch rbe500_project rrp.launch
  

• Meanwhile all these processes are running, open a new terminal to observe current position, velocity and forces/torques of each robot joint as follows:

  rostopic echo /rrp/joint_states