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Experiment control algorithm using acrobot mechanism Acrobot is double pendulum mechanism having 1 passive and 1 active joint

Introduction

Set up torque control environment in gazebo using ros_control Now, Just set torque = sin(i) Later, going to apply control algorithm here

Usage

  • Download rrbot tutorial in gazebo
cd ~/catkin_ws/src/
git clone https://github.com/ros-simulation/gazebo_ros_demos.git
cd ..
catkin_make

  • Download acrobot_control in this repository at ~/catkin_ws/src/

  • Authorize scripts/acrobot_control.py

chmod +x acrobot_contro.py
  • Launch rrbot_gazebo
roslaunch rrbot_gazebo rrbot_world.launch
  • Launch acrobot_control
roslaunch acrobot_control acrobot_control.launch

To do

  1. Explain above structure in detail
  2. Make above two launch files into one launch file for simplicity
  3. Add LQR algorithm

Reference

  1. http://gazebosim.org/tutorials?cat=connect_ros
  2. https://github.com/JoshMarino/gazebo_and_ros_control