September 2017
Intermediate to advanced
530 pages
15h 8m
English
Content preview from A Systematic Approach to Learning Robot Programming with ROSBecome an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
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Robot Arms in ROS
INTRODUCTION
This section introduces concepts in planning and control of robot arms. The presentation approach is ground-up. At the lowest level, joint controllers are specified, whether position controlled, velocity controlled or force controlled. The next higher layer of abstraction is specification and execution of joint-space trajectories, which include coordination of joint displacements at planned arrival times. Through consideration of forward and inverse kinematics, one can compute joint-space solutions that are appropriate for performing specific tasks. To construct a viable joint-space trajectory, one must consider Cartesian motion plans and choose among inverse kinematic options to construct corresponding feasible ...
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I'm always learning. So when I got on to O'Reilly, I was like a kid in a candy store. There are playlists. There are answers. There's on-demand training. It's worth its weight in gold, in terms of what it allows me to do.