GenCRA3S

ROS integrated MATLAB-Simulink package for the KUKA IIWA LBR7 manipulator in Gazebo environment

Description

In this work, classical, optimal, and force-based controllers are designed for a 3 DOF spherical manipulator in Matlab-Simulink. The controllers are deployed and verified on the KUKA IIWA LBR7 industrial manipulator in ROS-Gazebo simulator using the ros_controls package. Some intreseting results are seen in the comparison of these controllers for the robotic manipulator.

Controllers:

• Proportional Integral Derivative (PID)
• Linear Quadratic Regulator (LQR)
• Impedence Control

How to use

Install the requirements Required Packages :

• Matlab
  • ROS Toolbox
  • Control Systems Toolbox
• ROS
  • ros_controls Package

Use:

• Create a workspace folder "work_space"
• Create a "src" folder inside the "work_space" folder
• Clone the repository inside the "src" folder
  • cd work_space/src
  • git clone https://github.com/offjangir/GenCRA3S/
• Build ros packages
  • catkin_build
• Open the MATLAB & Simulink Model files
• Start the controller launching the "PID_arm.launch" file using "roslaunch" command for PID, and "LQR_IMP_arm.launch" for LQR and Impedence controllers respectively
• Run Parameter scripts for respective controllers in MATLAB
• Run Simulink Model

Contributing

• Fork this repository.
• Clone the fork.
• Make a new branch and make your modifications.
• Commit and push your changes.
• Create pull request.

Contact

• Yash Jangir
• Prathamesh Saraf