Trajectory Generation and Feedback-Linearization Control for the RRBot Robotic Arm

Creating a ROS Workspace

Follow these commands

mkdir -p ~/RRbot_ros/src
cd ~/RRbot_ros
catkin_make
echo "source ~/RRbot_ros/devel/setup.bash" >> ~/.bashrc
source ~/RRbot_ros/devel/setup.bash

Clone the repository

cd ~/RRbot_ros/src
git clone https://github.com/ros-simulation/gazebo_ros_demos.git

Update the workspace

sudo apt-get update
sudo apt-get upgrade
sudo apt update
sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers
sudo apt-get install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control

Catkin-make

cd ~/RRbot_ros
catkin_make

Launching the robot in Gazebo

roslaunch rrbot_gazebo rrbot_world.launch

Running the control node

roslaunch rrbot_control rrbot_effort_control.launch

After running the control node, run the 'rrbot_traj_control.m' matlab file provided in the repository.

Feedback-Linearization.Control.mp4

Performance Plots

The plot depicts the desired trajectory generated, that must be followed by the rrbot manipulator and the performance of the manipulator.