Compliant Control and Application

It contains the compliant control algorithms in robotic arm, and the chosen robot is universal robot which is popular collaborate robot in the world.

Compile

mkdir catkin_ws/src && cd catkin_ws/src
git clone https://github.com/MingshanHe/Compliant-Control-and-Application.git
catkin build (or cd .. && catkin_make)

If there is come up with some errors during compile process, you might need to install some ros packages for support this project, I recommend you to run following command or search the compile error in Google or Baidu and so on.

rosdep install -i --from-path src --rosdistro noetic --ignore-src -r -y

If there is an error 'Unable to locate ...', try following commands.

echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/ros-latest.list
sudo apt update

Change the arm to Xarm6

1. Clone xarm repository [https://github.com/xArm-Developer/xarm_ros]
2. Copy stl files in xarm_ros/xarm_description/meshes/xarm6/visual/ to Compliant-Control-and-Application/robots/universal_robot/fmauch_universal_robot/ur_description/meshes/ur5e/visual/ adding _xarm to the end of file names.
3. Rename the values of visual and collision in Compliant-Control-and-Application/robots/universal_robot/fmauch_universal_robot/ur_description/config/ur5e/visual_parameters.yaml to the xarm's stl files.
4. Copy the values in xarm_ros/xarm_description/urdf/xarm6.urdf.xacro to Compliant-Control-and-Application/robots/universal_robot/fmauch_universal_robot/ur_description/urdf/inc/ur_macro.xacro
   1. Add the definitions such as joint1_lower_limit to <xacro:macro name="ur_robot" params=".
   2. Do not change the name of links and joints as defined in ur_macro.xacro.

Check

using the following command to check the self-defined controller. Like:cartesian_velocity_controller

rospack plugins --attrib=plugin controller_interface

Run

Notice: In this repository, I have used ur5e robot and its urdf file need to be changed in different situation, like need or not a force/torque sensor in the end effector. Please check the urdf file seriously and run the algorithm, Thanks.

1. Admittance

roslaunch ur_gazebo ur5e_bringup.launch transmission_hw_interface:=hardware_interface/PositionJointInterface specified_controller:=cartesian_velocity_controller

roslaunch admittance Admittance.launch

After the robot has moved to the desired pose, run the following commands to generate fake wrench signal

roslaunch admittance Wrench_Fake.launch

2. Impedance

roslaunch ur_gazebo ur5e_bringup.launch transmission_hw_interface:=hardware_interface/EffortJointInterface specified_controller:=joint_torque_controller

roslaunch impedance Impedance.launch

3. Application (Hybrid Admittance Control)

roslaunch mir_gazebo mir_ur5e.launch tf_prefix:=robot1

roslaunch admittance HybridAdmittance.launch tf_prefix:=robot1

4. Hybrid Position Force Control

roslaunch ur_gazebo ur5e_bringup.launch transmission_hw_interface:=hardware_interface/PositionJointInterface specified_controller:=cartesian_velocity_controller environment:=polish

roslaunch hybrid_position_force_control hybrid_position_force_control.launch

And then it needs to use the topic publish command in the terminal. It is recommended to move to the pose [-0.1, 0.3, 0.3, 0.707, -0.707, 0.0, 0.0].

rostopic pub /desired_carteisan_pose_cmd geometry_msgs/Pose "position: x: -0.10 y: 0.30 z: 0.30 orientation: x: 0.707 y: -0.707 z: 0.0 w: 0.0" 

5. Mobile Robot

roslaunch mir_gazebo mir.launch

There are some pre-settings that will be needed to run in this project. Three mode is provided to be tested.

1. Mobile Robot(mir robot)
2. Mobile Robot(mir robot) with a Robotic Arm(UR5E)
3. Mobile Robot(mir robot) with a Robotic Arm(UR5E) and a Gripper(Robotiq)

For change amoung them, this project have provided the setting params in the mir.launch file. And you also need to change the start controller for the robotic arm in mir_gazebo_common.launch

Mapping

Gmapping:

roslaunch mir_navigation hector_mapping.launch

MoveBase Framework:

roslaunch mir_navigation move_base.xml with_virtual_walls:=false

rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz

Navigation

AMCL Localization:

roslaunch mir_navigation amcl.launch initial_pose_x:=10.0 initial_pose_y:=10.0

MoveBase Framework:

roslaunch mir_navigation start_planner.launch \
    map_file:=$(rospack find mir_gazebo)/maps/maze.yaml \
    virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/maze_virtual_walls.yaml

rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz

Performance

1. Admittance

2. Hybrid Admittance Control

3. Hybrid Position Force Control