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Redundacy Resolution for mobile Manipulator

Overview

This folder contains all the code used in the master's thesis. The ROS Package is implemented in ROS Noetic. Python3 is used.

Author: Hauke Heeren

E-Mail: [email protected]

Packages

optimization_algo

Uses an Optimization to calculate the velocity of the MiR. UR velocity is cartesian velocity command minus the MiR velocity. For more details see Readme.

Scripts

optimize.py
  • input: cartesian velocity command
  • output: UR velocity
  • output: MiR velocity

Can either be used as a class to be implemented in own script, or otherwise by just running the main. Needs a running controller for the Robot arm listening to topic at cooperative_manipulation/cartesian_velocity_command.

control/ur_admittance_control_hw.py
  • input: cartesian velocity command via topic cooperative_manipulation/cartesian_velocity_command
  • output: joint_velocities: /mur/ur/joint_group_vel_controller/command parallel force_pos controller for the robot arm using mur.lauch of match_mobile_robotics

match_mobile_robotics

For more details see Readme.

see also: github

messungen

Package to take the measurements used in the master's thesis.

For more details see Readme.