Simple impedance controller for Kinova Gen 3 arm which was tested on a real robot. This requries ROS to work because of
kdl_parser for URDF files. The ABAG implementation is generated using Domain-Specific languages realized in
Jetbrains MPS, which can be found at the
rosym-project/controller-dsl and
rosym-project/algorithm-dsl repositories.
The kinova zip file is added using git-lfs, see project page for setup instruction.
All necessary headers, libraries and URDF model are expected under kinova_libs/extracted directory. After installing
git-lfs (and maybe system package zip), the necessary files can be extracted to the right repository by
running the following commands at the repository's top level:
$ git lfs pull
$ cd kinova_libs && unzip kinova_libs.zip
The included configuration file is handled using
libconfig. On Ubuntu all necessary libraries and headers can be installed
with sudo apt install libconfig++-dev.
Script plot_abag_data.py can be used to plot the generated control data.
Run plot_abag_data.py -h for full usage documentation. A sample execution:
./executables/plot_abag_data.py ./build/ctrl_data_pos_z.csv ./build/desired_values.csv pos_z
- Minh Nguyen
- email:
minh.nguyen at h-brs dot de
- email:
- Djordje Vukcevic
- email:
djordje.vukcevic at h-brs dot de - GitHub:
djolemne
- email: