Admittance_Controller

Overview

This package contains an admittance controller for a delta parallel manipulator.

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License

Author: Victor Rosillo
University of Malaga Maintainer: Victor Rosillo Suero, vrosillo1110@gmail.com

Delta manipulator

Publications

Installation

Installation from Packages

ROS version Melodic

Use rosdep:

sudo rosdep install --from-paths src

Building from Source

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/Robotics-Mechatronics-UMA/admittance_controller.git
cd ../
rosdep install --from-paths . --ignore-src
catkin_make

Usage

Describe the quickest way to run this software, for example:

Run the dummy test for the controller, you can save a rosbag file and watch the results of the simulation

roslaunch admittance_controller controller.launch

Config files

params.yaml

Launch files

controller.launch

Nodes

Node1 admittance_controller_node: an admittance controller for a 6 DoF parallel manipulator.

Node2 dummy_test_noded: a test node that you can launch if you want to test the admittance controller and check the results.