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torque_controllers

This package explores the torque controllers

https://github.com/shravista/torque_controllers

Science Score: 44.0%

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    Low similarity (8.7%) to scientific vocabulary
Last synced: 10 months ago · JSON representation ·

Repository

This package explores the torque controllers

Basic Info
  • Host: GitHub
  • Owner: Shravista
  • Language: C++
  • Default Branch: main
  • Size: 10.9 MB
Statistics
  • Stars: 1
  • Watchers: 1
  • Forks: 1
  • Open Issues: 0
  • Releases: 0
Created over 1 year ago · Last pushed 11 months ago
Metadata Files
Readme Citation

README.MD

Torque Controllers

This package is made for the torque controllers for robotic manipulators. For inutition behind the source code, please visit https://shravista.github.io/blog/torque-controllers-for-manipulators.html

control Switching-based Control Architeture

Steps for installation

Requirements: Ubuntu 24.04, ROS 2 Jazzy Jalisco, pinocchio, ros2 controllers, gazebo harmonic.

These steps assumes that ros2control, ros2controllers, gazebo sim (harmonic), gzros2control are already installed. In addition one needs sudo apt install ros-jazzy-pinocchio

Note: Compilation with pinocchio takes significant build time. But the runtime execution is pretty fast.

Preparation: 1. Clone Git Repo git clone https://github.com/Shravista/torque_controllers.git 2. compile packages colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

Testing the repo

  1. launch file -> bring robot simulation ros2 launch example_robots iiwa14_bringup_launch.py
  2. example tests

2.1. Set Point Tracking

ros2 run torque_control_tests iDControlVer2 0 --ros-args --params-file <WORKSPACE>/torque_controllers/torque_control_tests/config/inverseDynamicsControl.yaml

2.2 Trajectory tracking

ros2 run torque_control_tests iDControlVer2 0 --ros-args --params-file <WORKSPACE>/torque_controllers/torque_control_tests/config/inverseDynamicsControl.yaml

For more details on changing the set Point and tracking trajectory, readers are referred to the files torque_control_tests/src/iDControlVer2.cpp and torque_control_tests/src/inverseDynamicsControl.cpp

Warning

Since the convergence of the velocity states are asymptotic in nature, one can observe the drift in position very slowly. However, the convergence rate on the velocity state can be increased through increasing gains.

To Do List

  1. integration with real robots

Owner

  • Name: Shravista
  • Login: Shravista
  • Kind: user
  • Location: Jogipet

Citation (CITATION.cff) 

# This CITATION.cff file was generated with cffinit.
# Visit https://bit.ly/cffinit to generate yours today!

cff-version: 1.2.0
title: Torque Controller
message: >-
  If you use this software, please cite it using the
  metadata from this file.
type: software
authors:
  - given-names: Shravista Kashyap
    email: chidres@iisc.ac.in
    affiliation: Indian Institute of Science
    orcid: 'https://orcid.org/0000-0002-4270-9443'
repository-code: 'https://github.com/Shravista/torque_controllers.git'
url: 'https://shravista.github.io/'
license: Apache-2.0

GitHub Events

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