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Controlling a two fingered robot gripper using 2 dynamixel RX-24F motors and Potentiometers to calculate the stiffness of the object.
License: MIT License
controlling-robot-gripper-using-ros's Introduction
Controlling-Robot-Gripper-using-ROS
- Controlling a two fingered robot gripper using 2 dynamixel RX-24F motors and Potentiometers to calculate the stiffness of the object.
For controlling dynamixel RX-24f
- Download the dynamixel_sdk package for ROS which has all the libraries to work with.(http://wiki.ros.org/dynamixel_sdk)
- Download and copy my code to the DynamxelSDK/ROS/dynamixel_sdk_examples/src
- For cpp files required changes are to be made in the cmakelist and the package.xml files.
For reading potentiometer through phidget_22
- Download the phidget ROS package (http://wiki.ros.org/phidgets)
- Download and copy the my potentiometer reading code in phidgets_drivers/phidgets_ik/src
- For cpp files required changes are to be made in the cmakelist and the package.xml files.
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