A Systematic Approach to Learning Robot Programming with ROS

CHAPTER 11

Low-Level Control

CONTENTS

11.1 A one-DOF prismatic-joint robot model

11.2 Example position controller

11.3 Example velocity controller

11.4 Example force controller

11.5 Trajectory messages for robot arms

11.6 Trajectory interpolation action server for a seven-DOF arm

11.7 Wrap-Up

INTRODUCTION

This chapter will explore variations on low-level joint control in ROS. In Section 3.5, robot-arm control concepts in ROS were introduced using a separate feedback node that interacted with Gazebo via Gazebo topics. This approach, while suitable for illustrative purposes, is not preferred, since sample rates and latencies due to communication via topics limits the achievable performance of such controllers. Instead, as introduced in Section ...