phuicy / Kinova-Torque-Control

Kinova-Unilaterals

Authors

• Guy Burroughes
• Ozan Tokatli

Robots Supported

• Kinova Gen3 Ultra 7DOF
  • API - 2.09 +

Unilateral

Will conrtol the robot in torque mode, with Compensation and PD control.

The program will initially connect to the robot. Then, clear faults on the robot and request the robot to home. The robot will then go into low-level torque mode with a PD controller holding the home position in 1kHz torque mode.

With compensation: \f$u = (u+C(p,\dot{p}) +G(p))\f$, where, \f$p\f$ is position and \f$\dot{p}\f$ is velocity of the robot joints. (N.b. \f are there for doxygen rendering of math mode, but breaks markdown rendering mathmode).

There is a topic that can set the demand position and velocity, overwriting the starting home position. This allows for position control, for velocity control you need to feed in current position as well.

TAskSpace

Will cntrol the robot in torque mode, with Compensation and PD control, with inverse kinematics.

The program will initially connect to the robot. Then, clear faults on the robot and request the robot to home. The robot will then go into low-level torque mode with a PD controller holding the home position in 1kHz torque mode.

With compensation: \f$u = (u+C(p,\dot{p}) +G(p))\f$, where, \f$p\f$ is position and \f$\dot{p}\f$ is velocity of the robot joints. (N.b. \f are there for doxygen rendering of math mode, but breaks markdown rendering mathmode).

There is a topic that can set the taskDemand twist command. This allows for task space velocity control.

Shared Features

Pause

Each robot has a hold position controller, triggered by a ROS parameter.

PD Tuning

Each robot can be live tuned for PD k parameters via ROS parameters

Compensation

Both gravity and coriolis compensaiton can be turned off and on by ROS parameter for each robot.

Build

Dependencies

• ROS2 foxy - for logging
• conan for kinova

sudo apt install python3 python3-pip
sudo python3 -m pip install conan
conan config set general.revisions_enabled=1
conan profile new default --detect > /dev/null
conan profile update settings.compiler.libcxx=libstdc++11 default
mkdir -p catkin_workspace/src
cd catkin_workspace/src
git clone https://github.com/Kinovarobotics/ros_kortex.git
cd ../
rosdep install --from-paths src --ignore-src -

• build-essentials

Optional dependencies

• Doxygen
• LaTeX - for lateX doxygen docs

Standard build

mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/usr
make -j$(nproc)

Build AppImage

mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/usr

# build project and install files into AppDir

make -j$(nproc)

make install DESTDIR=AppDir

linuxdeploy-x86_64.AppImage --appdir AppDir -o appimage -d ../desktop/unilateral_mock.desktop -i ../desktop/logo.png -l /opt/ros/foxy/lib/librmw_fastrtps_cpp.so -l /opt/ros/foxy/lib/librmw_dds_common__rosidl_typesupport_fastrtps_cpp.so -l /opt/ros/foxy/lib/librcl_interfaces__rosidl_typesupport_fastrtps_c.so -l /opt/ros/foxy/lib/librcl_interfaces__rosidl_typesupport_fastrtps_cpp.so -l /opt/ros/foxy/lib/libsensor_msgs__rosidl_typesupport_fastrtps_cpp.so 

linuxdeploy-x86_64.AppImage --appdir AppDir -o appimage -d ../desktop/unilateral.desktop -i ../desktop/logo.png -l /opt/ros/foxy/lib/librmw_fastrtps_cpp.so -l /opt/ros/foxy/lib/librmw_dds_common__rosidl_typesupport_fastrtps_cpp.so -l /opt/ros/foxy/lib/librcl_interfaces__rosidl_typesupport_fastrtps_c.so -l /opt/ros/foxy/lib/librcl_interfaces__rosidl_typesupport_fastrtps_cpp.so -l /opt/ros/foxy/lib/libsensor_msgs__rosidl_typesupport_fastrtps_cpp.so 

This will enable the

Additional Repo Features

• devcontainer support
• gitpod support
• vs code setup support

Tests

Mocking

There are 2 mocking classes which mocks the hardware interfaces, to allow for full system testing without hardware.

Unit tests

• PD-Test - Test for the PD controller
• KinovaTest - Tests the robotMath function