techman_tm5

A new driver for the TM5 robot arms from Techman Robot. It is designed to provide another control method which is joint velocity control. By under joint velocity control, it could replace old version driver which only provide position control without speed changing and enhance more usability for lower-level control.

This package is runing under Linux Ubuntu 14.04, not ROS supported.
Some library packages(ex. tm_driver, tm_kinematics) were developed based on kentsai0319/techman_robot
The on-line trajectory generation algorithm /ReflexxesTypeII is from Reflexxes Motion Library TypeII
/tm_reflexxespackage is developed based on APIs from /ReflexxesTypeII

Maintainer

Howard Chen, howardchen.ece04g@g2.nctu.edu.tw, ISCI Lab, NCTU.

Improvements

/tm_driver :we add joint velocity control API inside. Also support for old version, position control. Note : Please make sure your tm5 is supported for joint velocity command.
tm_kinematics : forward/inverse jacobian generation supported.
tm_reflexxes : On-line trajectory generation under joint velocity supported.
All the packages are ROS supported ready.

Update

The libraries inside the package are still keep updating and being developing for newer functions and improving better usability. For the lastest version of packages, please check out the following individual files :

tm_driver : ISCI-NCTU/tm_reflexxes/tm_driver
tm_kinematics : s880367/tm_jacobian/tm_kinematics
tm_reflexxes : ISCI-NCTU/tm_reflexxes/tm_reflexxes

Installation

For building the package requre Eigen3

mkdir build && cd build
cmake ..
make

Usage

/tm_bringup is used form bring up the real physical robot

./tm_bringup [robot_ip] (default robot_ip is 192.168.0.10)