This is a ROS package for the Stewart-Gough platform in the National University of Colombia.
- 📌About The Project
- 🏁Getting Started
- 🎈Usage
- 🎢Roadmap
- 👥Contributing
- 🔑License
- ✏️Authors
- 🎉Acknowledgments
This repo contains the development of all the packages used to control and simulate the movement of the Stewart-Gough platform at the Universidad Nacional de Colombia.
The inverse kinematics of the Stewart-Gough platform is given by the following equations:
This is an example of how you may give instructions on setting up your project locally. To get a local copy up and running follow these simple example steps.
This is an example of how to list things you need to use the software and how to install them.
- Robotics toolbox for python
pip3 install roboticstoolbox-python==1.0.3
- Raspberry GPIO
pip3 install RPi.GPIO
- ADS1115
pip3 install adafruit-circuitpython-ads1x15
- I2C
sudo apt-get install -y python3-smbus sudo apt-get install -y i2c-tools # Install raspi-config - https://dexterexplains.com/r/20211030-how-to-install-raspi-config-on-ubuntu wget -p -O ./raspi-config_20211019_all.deb https://archive.raspberrypi.org/debian/pool/main/r/raspi-config/raspi-config_20211019_all.deb sudo apt -y install libnewt0.52 whiptail parted triggerhappy lua5.1 alsa-utils sudo apt install -fy sudo dpkg -i ./raspi-config_20211019_all.deb rm ./raspi-config_20211019_all.deb # Enable I2C - https://learn.adafruit.com/adafruits-raspberry-pi-lesson-4-gpio-setup/configuring-i2c sudo raspi-config # 5 Interfacing Options > P5 I2C > Yes > Ok > Finish sudo reboot # Check I2C is enabled and connect devices to view their addresses ls /dev/i2c* sudo i2cdetect -y 1
- Clone the repo
git clone https://github.com/cychitivav/sg_platform.git
- Next steps
Use this space to show useful examples of how a project can be used. Additional screenshots, code examples and demos work well in this space. You may also link to more resources.
Note: For more examples, please refer to the* Documentation
- Kinematics
- Inverse kinematics
- Forward kinematics
- Jacobian
- URDF
- Spherical joints
Note: See the open issues for a full list of proposed features (and known issues).
Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.
If you have a suggestion that would make this better, please fork the repo and create a pull request. You can also simply open an issue with the tag "enhancement". Don't forget to give the project a star! Thanks again!
- Fork the Project
- Create your Feature Branch (
git checkout -b feature/AmazingFeature
) - Commit your Changes (
git commit -m 'Add some AmazingFeature'
) - Push to the Branch (
git push origin feature/AmazingFeature
) - Open a Pull Request
Distributed under the MIT License. See LICENSE
for more information.