miheer-diwan / SCARA-manipulator

SCARA Robot Simulator Using ROS 2 and Gazebo

SCARA-manipulator

In this project, a SCARA manipulator is designed using URDF and position and velocity controllers are implemented to move the robot in the desired way.

Tools used

• ROS2
• PID controller
• Gazebo

Methodology

• A URDF model of the SCARA robot was developed and spawned in Gazebo environment.

• The Forward Kinematics and Inverse Kinematics of the robot was calculated and a PID controller was used to control the end-effector position.

• Similarly, the Jacobian and Inverse Jacobian of the robot was calculated and a PID controller was used to control the end-effector velocity.

Result

The robot moving along +Y direction can be seen in the below GIF.