This repository hosts the control system for a Delta Robot, optimized for precise end effector manipulation and movement in both simulated and real-world settings.
- Customized URDF: Enhanced and adapted from an existing model to meet our Delta Robot's specific requirements. Thanks to the original contributors of the ros_delta_robot repository for the URDF file.
- Controller Development: Scripts and launch files developed to enable precise control over the robot’s joints.
- Implemented Inverse Kinematics: Applied inverse kinematic theories to manage the position of the end effector with high accuracy.
- End Effector Straight Line Movement: To implement algorithms that will allow the end effector to move in a straight line, which is essential for executing precision tasks.
- Real Robot Application: To adapt theoretical algorithms for use in a real Delta Robot, aiming to confirm the system’s effectiveness in actual use scenarios.
Clone this repository to your local machine using:
git clone https://github.com/Makizy/Delta_Robot_Control.git
Navigate to the project directory and launch the simulation with:
roslaunch delta_robot_gazebo.launch
A video demonstration of the robot in Gazebo, showing the end effector moving to the desired point with joint torque inputs, can be viewed here:
Robot_delta_control.MOV
Special thanks to the ros_delta_robot project for providing the base URDF file, which was crucial for our adaptations and initial project setup.
This project is licensed under the MIT License.