Difference between revisions of "PR2 Arm Control"

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(Low-level Controllers)
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{| class="wikitable" border="1"
 
{| class="wikitable" border="1"
 
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! scope="col" width="50" | Controller  
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! scope="row" width="50" | Controller
! scope="col" width="30" | Designer
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! scope="col" width="300" | [http://www.ros.org/wiki/robot_mechanism_controllers/JointSplineTrajectoryController Joint Spline Trajectory Controller]
! scope="col" width="250" | Pros
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! scope="col" width="300" | [http://www.ros.org/wiki/teleop_controllers/JTTeleopController JTranspose Controller]
! scope="col" width="250" | Cons
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! scope="col" width="300" | [https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_cockpit/trunk/teleop_controllers/src/jt_task_controller.cpp JTranspose Task Controller]
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! scope="col" width="300" | [http://www.ros.org/wiki/teleop_controllers/JinvTeleopController JInverse Controller]
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! scope="col" width="300" | [http://www.ros.org/wiki/ee_cart_imped_control End Effector Cartesian Impedance Control]
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|-
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! scope="row" | Designer
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| Stuart Glaser || Stuart Glaser || Adam Leeper || Stuart Glaser || MIT
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|-
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! scope="row" | Control Type
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| Joint space || Cartesian Space || Cartesian Space || Cartesian Space || Cartesian Space
 
|-
 
|-
| [http://www.ros.org/wiki/robot_mechanism_controllers/JointSplineTrajectoryController Joint Spline Trajectory Controller] || Stuart Glaser || Example || Example
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! scope="row" | Interfaces
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|
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* Actionlib
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* Command topic
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||  
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* Command topic
 +
||
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* Command topic
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||
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* Command topic
 +
||
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* Actionlib
 
|-
 
|-
| [http://www.ros.org/wiki/teleop_controllers/JTTeleopController JTranspose Controller] || Stuart Glaser || Example || Example
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! scope="row" | Specify Trajectory
|-
+
|
| [https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_cockpit/trunk/teleop_controllers/src/jt_task_controller.cpp JTranspose Task Controller] || Adam Leeper || Example || Example
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{{yes}}
|-
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| [http://www.ros.org/wiki/teleop_controllers/JinvTeleopController JInverse Controller] || Stuart Glaser || Example || Example
+
|-
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| [http://www.ros.org/wiki/ee_cart_imped_control End Effector Cartesian Impedance Control] || MIT || Example || Example
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|}
 
|}

Revision as of 02:30, 30 June 2011

Low-level Controllers

Controller Joint Spline Trajectory Controller JTranspose Controller JTranspose Task Controller JInverse Controller End Effector Cartesian Impedance Control
Designer Stuart Glaser Stuart Glaser Adam Leeper Stuart Glaser MIT
Control Type Joint space Cartesian Space Cartesian Space Cartesian Space Cartesian Space
Interfaces
  • Actionlib
  • Command topic
  • Command topic
  • Command topic
  • Command topic
  • Actionlib
Specify Trajectory

style="background: #ddffdd;" align=center | Yes