New answers tagged control
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Where should I write and call GPIO port connection in the hardware interface in ros2_control for control of robot movement on Raspberry Pi 4?
https://github.com/ros-mobile-robots/diffbot
This code has the help you need. The Raspi can directly drive the Grove motor controller. It works very well.
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Difference between UnivalPLC and UnivalDrive
UNIVAL Drive and UNIVAL PLC are products from Staubli Robotics for their commercial robots. As mentioned in the comments you contact the applications engineer of Staubli Robotics, which I happen to be....
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Ros control pid gives different input than expected
There are two wrong things in the initial post:
1st The pid controller publishes its state every 10 calculations.
Inside the update command, there is the following code:
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How to compute orientation error for a Puma end effector
I found the error, the rotation matrix Rd is not a rotation matrix because its determinant is equal to -1:
det(Rd) = -1
I'm so sorry for your time! Forgive me!
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How to compute orientation error for a Puma end effector
Where did you get those equations from for the conversion to quaternion? I went to this question and implemented two of the answers there in Matlab (Octave), and both answers gave the same results:
<...
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When express a first-order system as a block diagram with feedback?
Logically, there is no difference, of course. However, when it comes down to implementation, engineers tend to stick to basic building blocks, both in terms of SW libraries and HW components. Among ...
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Differential Inverse Kinematic Controller ROS
As discussed here, the orientation error is not simply one orientation minus another. It is best to convert your orientations into rotation matrices (which can be obtained from both Euler angles and ...
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