Stewart-Gough platform ROS package

This is a ROS package for the Stewart-Gough platform in the National University of Colombia.

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📝Table of contents

• 📌About The Project
  • Kinematics
    • Inverse kinematics
    • Forward kinematics
  • Built With
• 🏁Getting Started
  • Prerequisites
  • Installation
• 🎈Usage
• 🎢Roadmap
• 👥Contributing
• 🔑License
• ✏️Authors
• 🎉Acknowledgments

📌About The Project

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.

Kinematics

Inverse kinematics

The inverse kinematics of the Stewart-Gough platform is given by the following equations:

$$ \begin{align*} d_i &= \lVert b_i^0 - a_i^0 \rVert\\ d_i &= \lVert T_1^0b_i^1 - a_i^0 \rVert\\ d_i &= \lVert R_1^0b_i^1 + P - a_i^0 \rVert\\ d_i &= \sqrt{[R_1^0b_i^1 + P - a_i^0]^T\cdot[R_1^0b_i^1 + P - a_i^0]} \end{align*} $$

Forward kinematics

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Built With

• 
• 

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🏁Getting Started

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.

Prerequisites

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

Installation

1. Clone the repo

   git clone https://github.com/cychitivav/sg_platform.git

2. Next steps

🎈Usage

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

🎢Roadmap

• Kinematics
  • Inverse kinematics
  • Forward kinematics
  • Jacobian
• URDF
  • Spherical joints

Note: See the open issues for a full list of proposed features (and known issues).

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👥Contributing

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!

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
3. Commit your Changes (git commit -m 'Add some AmazingFeature')
4. Push to the Branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

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🔑License

Distributed under the MIT License. See LICENSE for more information.

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✏️Authors

• @cychitivav

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🎉Acknowledgments

• @jsduenass

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