sravan/RRRobot
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  • d9e2073644 Merge branch 'arm_control' into GEAR Derek Witcpalek 2020-04-16 20:59:12 -04:00
  • ccae110574 Updated PID and added arm with suction gripper to the world Derek Witcpalek 2020-04-16 20:57:43 -04:00
  • 54c38f8119 Made script file executable Derek Witcpalek 2020-04-15 18:18:05 -04:00
  • 85d500106a Added setpoint testing world Derek Witcpalek 2020-04-15 15:54:31 -04:00
  • ba6901d32a Modified arm controller node to handle all arm control. It receives desired end effector poses and actuates the arm. Also includes some clean up. Derek Witcpalek 2020-04-15 15:52:49 -04:00
  • aa19a69917 Rename Folder, Remove Submodules, & GEAR Container Sravan Balaji 2020-04-13 00:59:15 -04:00
  • 432b0b7e3d Add GEAR Source Submodules Sravan Balaji 2020-04-12 15:30:41 -04:00
  • 75f0d553fe Remove Submodule & Fix Dockerfile Sravan Balaji 2020-04-12 14:45:24 -04:00
  • ef26d8ffef Working arm movement to specific pose (x,y,z,roll,pitch,yaw). There are a lot of other changes too. -Removed gravity (temporary, I hope). I was struggling to get inverse dynamics working correctly to provide a torque to compensate for gravity. Eventually, I think we want to have a PID, plus gravity compensation. -Created a demo world with setpoints that the robot heads to. -Arm kinematic representation is working. -PID control of each joint is working to a basic extent. Some segments are more responsive than others. Derek Witcpalek 2020-04-12 14:18:01 -04:00
  • 705f7ac662 Merge branch 'master' into warehouse Sravan Balaji 2020-04-12 11:54:29 -04:00
  • 60bc79aea5 Warehouse Documentation & Docker Sravan Balaji 2020-04-12 11:51:52 -04:00
  • 30f39c7fdd Update gitignore Sravan Balaji 2020-04-12 10:55:03 -04:00
  • a6374ff9b9 Warehouse Catkin Workspace Sravan Balaji 2020-04-12 10:40:58 -04:00
  • 5319a1d252 ARIAC GEAR Simulation Environment Sravan Balaji 2020-04-12 10:38:41 -04:00
  • 030e354474 Set theme jekyll-theme-cayman Sravan Balaji 2020-04-11 09:12:24 -04:00
  • 011975cbbe GitHub Pages Setup Sravan Balaji 2020-04-11 09:09:16 -04:00
  • 24ae0bd01d Added inverse kinematics and inverse dynamics calculations for the arm. The controller makes a feeble attempt at reaching target locations. Derek Witcpalek 2020-04-09 20:03:19 -04:00
  • 653a19e4b0 Added stronger test case to verify that all transformations work Derek Witcpalek 2020-04-09 17:24:50 -04:00
  • 6acb7158a0 Working kinematic representation. One caveat: there is no link representation between the world frame and the robot base frame. Sometimes when the simulation starts, the arm slides slightly off of (0, 0, 0) which causes joint positions to be slightly off (by the same amount). Derek Witcpalek 2020-04-09 17:05:06 -04:00
  • 496a7351c2 Some cleanup Derek Witcpalek 2020-04-09 11:50:23 -04:00
  • 007a5aca1a Added forward kinematics calls into Arm class Derek Witcpalek 2020-04-09 11:02:13 -04:00
  • 6a73cd2371 Forward kinematics verification is mostly working for individual joints. The axis of rotation is correct for all joints, but some cause incorrect amounts of motion. Specifically, moving the wrist_pivot joint causes a circular motion of the end effector, when (I believe) it should cause no movement, just rotation, of the end effector. Derek Witcpalek 2020-04-08 23:06:53 -04:00
  • 8e25bb09a3 Implemented initial dynamics model which is read in from an sdf file. There are currently some issues with coordinate transforms. Derek Witcpalek 2020-04-07 22:45:22 -04:00
  • 6f5b2f6142 Fixed build script to only continue if it was successful Derek Witcpalek 2020-04-07 22:39:33 -04:00
  • 9618d6885e Removed some unnecessary levels of directories Derek Witcpalek 2020-04-06 00:09:03 -04:00
  • 5d891787e1 README Fix & build.sh unix newlines Sravan Balaji 2020-04-05 15:38:19 -04:00
  • faf12547ca Docker-Compose -> Docker_Env Folder Sravan Balaji 2020-04-05 15:37:13 -04:00
  • 45f241fc95 Remove Symbolic CMake Link Sravan Balaji 2020-04-05 15:33:08 -04:00
  • 64bd1690bb Updated network settings to allow roscore to run Derek Witcpalek 2020-04-05 15:14:14 -04:00
  • be2db72832 Added missing include folder Derek Witcpalek 2020-04-05 14:44:47 -04:00
  • 4f4a07e4f9 Fixed volumes in docker-compose.yml for gazebo Dockerfile Derek Witcpalek 2020-04-05 13:51:44 -04:00
  • 8824e33936 Added motor control to the simulation, and a test program to verify that it is working as expected Derek Witcpalek 2020-04-04 18:29:38 -04:00
  • 93ebfef825 Added picture naming the joints and links used in the model description (model.sdf) Derek Witcpalek 2020-04-03 22:43:46 -04:00
  • 9050681d95 Clean up & commenting Derek Witcpalek 2020-04-03 22:42:55 -04:00
  • dac62c69d5 Updated README with instructions for running the simulation. Also, moved build commands to a script to make it easier to build. Derek Witcpalek 2020-04-03 21:43:04 -04:00
  • a881191bc6 Added a joint position publisher. It currently publishes all joint angles for the robotic arm, but could be adapted to a different model Derek Witcpalek 2020-04-03 20:57:47 -04:00
  • 4e30756b75 Added a basic plugin to read one arm joint's angle and publish that over ROS Derek Witcpalek 2020-04-03 16:52:26 -04:00
  • bf55093420 Splits project into a docker environment folder and source code folder (for development). This change is mostly just renaming and moving files, but there are some changes to the gazebo Dockerfile to include all dependencies required for final development. Derek Witcpalek 2020-04-03 16:50:47 -04:00
  • 13d2ea9883 Added a basic functional version of a robotic arm that can be used in gazebo. Derek Witcpalek 2020-04-02 17:34:59 -04:00
  • 927be9269d Added scripts for running gui applications in docker on ubuntu. Derek Witcpalek 2020-03-25 19:07:49 -04:00
  • fd2039e610 File Comments & ROS Development Container Sravan Balaji 2020-03-25 12:12:09 -04:00
  • e4c6c7470b README Restructure Sravan Balaji 2020-03-25 12:10:37 -04:00
  • 4300de9346 config.xlaunch OpenGL Fix Sravan Balaji 2020-03-25 10:39:43 -04:00
  • 15b40071aa README Updates Sravan Balaji 2020-03-22 21:20:27 -04:00
  • 718a3e070e Docker-Compose Comments and Variable Sravan Balaji 2020-03-22 21:19:17 -04:00
  • ca33adc3c0 ROS Turtlesim Container Sravan Balaji 2020-03-22 21:18:00 -04:00
  • 1d5406423d ROS Dockerfile Install Dependencies Sravan Balaji 2020-03-22 21:16:59 -04:00
  • b7c50253db config.xlaunch Sravan Balaji 2020-03-22 21:15:02 -04:00
  • c9eae80028 CAD Model Formatting Sravan Balaji 2020-03-22 19:33:29 -04:00
  • 1162a95702 Merge branch 'master' into docker Sravan Balaji 2020-03-22 19:32:56 -04:00
  • 72e3f30c8c Update README.md chenxgu 2020-03-22 19:28:14 -04:00
  • bfa43a8168 Getting Started w/ Docker Containers Sravan Balaji 2020-03-18 15:00:06 -04:00
  • d5d8fa1023 Poster & Proposal Sravan Balaji 2020-02-22 17:31:56 -05:00
  • 4dd1651b56 Initial commit Sravan Balaji 2020-02-22 17:21:46 -05:00