Hello World 3R Manipulator

A simulation system of a 3R robotic arm that does not take into account collisions and forces, controlled via CLI and displayed via RVIZ. Support Only Ubuntu 22.04 LTS.

Features

• Can be run by opening only 3 files.
• Arrows indicate the position of the End-effector (purple) and the Target position (green).
• Every step of the work process is displayed with logs, supporting Exception Handling.
• Supports 3 working modes: Auto, Inverse, Teleop
• Prevent movements that will cause a singularity by checking through the determinant of the Jacobian matrix.

Installation

Install ROS2 Humble

Install ROS 2 packages

Install dependencies

    pip3 install numpy==1.26.4
    pip3 install "scipy<1.12.0"
    pip3 install roboticstoolbox-python
    sudo apt install ros-humble-desktop-full
    sudo apt install ros-dev-tools
    sudo apt install ros-humble-teleop-twist-keyboard

Go somewhere like your home directory and clone this package.

    git clone https://github.com/beamkeerati/FUN4
    cd FUN4/

then build (inside FUN4)

    colcon build && . install/setup.bash

Set up your environment by sourcing the following file.

    echo "source ~/FUN4/install/setup.bash" >> ~/.bashrc

Usage

The rough usage method is as follows:

Open 3 Terminals in order and leave them running so that all three can run simultaneously.

Terminal 1

    ros2 launch example_description advance_display.launch.py

Terminal 2

    ros2 run example_description ui.py

Terminal 3

    ros2 run teleop_twist_keyboard  teleop_twist_keyboard

Control

• To change the robot's state, move the mouse to click on Terminal 2 and press the s,a,f,g keys to change the mode.
• When in Teleop mode, to control the End-Effector, hover your mouse over Terminal 3 and press the u i o j k l m , . buttons to control the robot's movement. If it's a Holomonic, hold down shift throughout the control.
• You can explore the details and movement characteristics by trying it yourself. Open Terminal 3 and observe the results.

Calculating the Workspace of a Robot

• Refer to Convert.ipynb for the Modified-DH Parameters and workspace calculations.
• Refer to InverseKinematics.ipynb for using a P-Controller with the inverse Jacobian to solve for the joint angles $q$ of each joint and to simulate the controller iteratively.