Robot Arm Control using ROS

A projects that use ROS with C++ to control the robot arm.

Description

• Both kinematics and dynamic controlling are supported.

• Different functions are separated into different packages and handled by nodes, which make it easy to use them by ROS actions.

• ROS action could be used to integrate different actions together. For example, give several destinations are let the arm to move to them one by one.

• Read urdf and yaml files with information of robot arm to plan movements, which means it could used on different arms.

• Could test it by simulation without causing risks on actual robot arms.

Example

An arm (on simulation) that is cleaning cubes on the table.