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SCARA-manipulator

In this project, a SCARA manipulator is designed using URDF and position and velocity controllers are implemented to move the robot in the desired way.

Tools used

  • ROS2
  • PID controller
  • Gazebo

Methodology

  • A URDF model of the SCARA robot was developed and spawned in Gazebo environment.

  • The Forward Kinematics and Inverse Kinematics of the robot was calculated and a PID controller was used to control the end-effector position.

  • Similarly, the Jacobian and Inverse Jacobian of the robot was calculated and a PID controller was used to control the end-effector velocity.

Result

The robot moving along +Y direction can be seen in the below GIF.

Alt Text