wangchuang-163/schunk_lwa4p

Package for adaptive impedance control of Schunk lwa4p manipulator with Gazebo model and interface for real robot.

schunk_lwa4p

Build prerequisites

packages +

• ros_controllers
• schunk_canopen_driver
  • config/joint_limits.yaml: max_velocity: 0.5 and max_acceleration: 1.1 (for consistency with HoCook calculation in schunk_lwa4p_trajectory pkg)
  • package.xml: remove <run_depend>ros_controllers</run_depend>
  • maybe add to urdf/lwa4p/lwa4p.gazebo.xacro (not sure if necessary)

     <gazebo>
              <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
              </plugin>
    </gazebo>
    

• schunk_lwa4p

schunk_lwa4p

Files brief

lwa4p_blue_control

• lwa4pBlueAdaptiveControlNode

  sub: /lwa4p_blue/operation_mode (if != 0 impedance control on)
  sub: /lwa4p_blue/position_reference
  sub: /lwa4p_blue/force_reference
  sub: /lwa4p_blue/orientation_x
  sub: /lwa4p_blue/orientation_z
  sub: /lwa4p_blue/ft_sensor_topic (simulator force sensor readings)
  sub: /lwa4p_blue/joint_states (simulator joint states)

schunk_lwa4p_kinematics

• guiControlNode.cpp

  sub: /lwa4p_blue/reference_point (9x1 vector [position orient_x orient_z])
  sub: /lwa4p_blue/joint_states (simulator joint states)
  pub: /lwa4p_blue/waypoints (--> trajectoryPlanningNode --> listenTrajectory.py)
  fcn: interpolates 3 points in joint space between current position and reference point as conditions for HoCook trajectory planning. Should be used before impedance control start to bring robot to initial position.

schunk_lwa4p_gazebo

• adaptive_wall.launch

  launch: lwa4p_blue, lwa4p_blue_controller, wall, empty_world nodes: spawn_robot, trajectoryPlanningNode, listenTrajectory.py, lwa4pBlueAdaptiveControlNode, forceAmplitudeNode