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Robot Operating System (ROS) real-time control.
Автор: Thiha Zaw
Загружено: 25 авг. 2023 г.
Просмотров: 15 899 просмотров
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This is the 6-DOF robotic manipulator I designed the whole from skretch.
This is the real time control of the manipulator by using Moveit motion planning framework and Robot Operating System (ROS). The inverse kinematic is solved byvthe Moveit and then joint angle solutions are fed directly into Megapi (modified Arduino Mega), and then the Megapi control the motors (3 DC encoders and 3 servos). The desired configuration of the robot is controlled by the virtual interface from Moveit.
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