rbe500-rrbot

This repo consists code for RBE500 final project that consists of various sub-projects on implementation of PD position control, velocity kinematics and velocity control of a scara robot arm (rrbot) created. For further information check the project problem statements and reports here.

Steps to setup and run the simulation

• For this project Ubuntu 20.04 with ROS2 Humble is used.
• Requires docker and docker-compose setup as prerequisite.
• Clone the repo to a folder.
• In that folder run the command:

   docker compose build
  

• This takes some time to build the images.
• Once built run the following command to open the Gazebo with rrbot:

   docker compose up sim
  

• For part 2 (or HW2), open another terminal and in the folder where we cloned the repo run:

   docker compose up effort-controller
   docker compose up position-control-servicecall
  

• Open another terminal and in the same folder run:

   docker compose up pos-control
  

• In another terminal, in the folder run:

   docker compose up main-controller
  

• For part 3 (or HW3) to run the velocity controller, open new terminal and run:

   docker compose up initial-position
   docker compose up effort-controller
   docker compose up joint-to-endeffector2
  

• In another terminal:

   docker compose up velocity-control
  

Results

The results for the position control(on left) and velocity control(on right) are shown here and remaining results and plots can be found in the reports here.

Reference

• Utilized the following resource for docker setup