Parabolic Trajectories Simulation on Fanuc M20iA 35M

The objectives of this project work are:

1. to provide a ROS2-based simulation environment for the Fanuc M20iA 35M robot;
2. to design a ROS2-based planning system that allows planning for sequences of points in the task space and joint space;
3. to execute trajectories on a simulated robot by using independent joint control;
4. to execute trajectories on a simulated robot by using task space control;
5. to assess the performance of the controller in terms of joint space tracking and task space tracking.

Usage

• If you want to execute parabolic trajectories simulation using velocity controllers, you have to follow the instructions contained in the README.md file in the task_space_velocity_controller folder.

• If you want to execute parabolic trajectories simulation using torque controllers (independent joint control), you have to follow the instructions contained in the README.md file in the fanuc_m20ia_35m_planning_demo folder.

• If you want to execute parabolic trajectories simulation neglecting the robot dynamics, you have to follow the instructions contained in the README.md file in the acg_resources_fanuc_m20ia_35m_moveit_config folder.

Contributors

@my-rice @sunpipe @AdoPagaTroppo