Admittance_Controller

Overview

This package contains an admittance controller for a delta parallel manipulator.

Keywords: ROS, Melodic, Delta, Admittance Controller

License

Author: Victor Rosillo
University of Malaga Maintainer: Victor Rosillo Suero, [email protected]

Publications

Bachelor's Thesis: Adaptive control of a lightweight three-degree-of-freedom parallel manipulator.

Delta manipulator

Parallel delta manipulator with 3 degrees of freedom. This manipulator has been designed and manufactured by researches from the ISA department at the University of Malaga.

Installation

Installation from Packages

ROS version Melodic

Use rosdep:

sudo rosdep install --from-paths src

Building from Source

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/Robotics-Mechatronics-UMA/admittance_controller.git
cd ../
rosdep install --from-paths . --ignore-src
catkin_make

Usage

Run the serial_node which is connecting a real force sensor with the controller framework.

roslaunch admittance_controller admittance_serial.launch

Run the dummy test for the controller, you can save a rosbag file and watch the results of the simulation. Online forces are applied to the system.

roslaunch admittance_controller admittance_dummy.launch

Config files

• params.cfg

  Config file for setting initial controller parameters and changing them in real time.

Launch files

• admittance_serial.launch

  Launch file to perform real tests with a 3DoF force sensor.

• admittance_dummy.launch

  Launch file to perform controller simulations using online force signals.

Nodes

• admittance_controller_node

  An admittance controller for a 6 DoF parallel manipulator.

• force_dummy_node

  A test node that you can launch if you want to test the admittance controller and check the results without using a real force sensor. In other words, force will be applied online.

Topics

Subscribed Topics

• /Force ([geometry_msgs/Vector3])

  Topic where force sensor readings are published.

Published Topics

• /cmd_vel_ee ([geometry_msgs/Vector3])

  Topic where desired velocity of the end-efector is published.

Schemes

ROS communication scheme

Simplified scheme of controller operation

Simplified model for 1 degree of freedom in Simulink