Implementation of Joint Control of a 6-DOF Manipulator in ROS: KOBOKER for Robotics Education

摘要

This paper presents the implementation of the joint control of a 6-DOF manipulator, KOBOKER, in ROS environment for robotics education. In order to accomplish a joint control task in ROS environment, the interface between the motor driver EPOS and ROS has been established. Using the EPOS studio, each motor of the robot can be controlled by designing PID controllers. Various plugins and packages in ROS for the joint control application are created, tested and implemented.