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3 years ago in Robot Perception , Robotics By Pranav

How can I develop a multi-link arm under ROS?

What are the steps to design and control a multi-link robotic arm using ROS?

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By Manoj Answered 1 year ago

Start by creating a URDF model of your arm's kinematics and dynamics. Use the `robot_state_publisher` to manage transforms. For control, leverage ROS controllers (`ros_control`) to interface with hardware or simulations. The MoveIt! motion planning framework is essential for high-level path planning, kinematics, and manipulation. Use Gazebo for simulation. The ROS Industrial consortium provides further standards and resources for real robot integration. Begin with ROS tutorials on URDF, MoveIt!, and `ros_control

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