ReadMe

File

Folder	Presentation
/code	含probot_gazebo ROS Package; 其中/src 下包含实验1-5&大作业代码
/img	文档内所需图片
/video	验证视频
/doc	md文档
/experiment	机械臂敲铃实物代码及报告

实物敲铃实验的代码为MATLAB代码，使用了MATLAB ROS ToolBox.

Run

catkin_make

Lab 1 正逆运动学

roslaunch probot_gazebo probot_anno_position_control_bringup.launch 
roslaunch probot_gazebo invert.launch 

Lab 3 Jacobi速度传递

roslaunch probot_gazebo probot_anno_velocity_control_ring_bringup.launch 
roslaunch probot_gazebo jacobi.launch 

Lab 4 轨迹规划

roslaunch probot_gazebo probot_anno_velocity_control_ring_bringup.launch 
roslaunch probot_gazebo trajectory.launch 

Lab 5 定点转动

roslaunch probot_gazebo probot_anno_velocity_control_ring_bringup.launch 
roslaunch probot_gazebo fixpoint.launch 

大作业 Ring

roslaunch probot_gazebo probot_anno_velocity_control_ring_bringup.launch 
roslaunch probot_gazebo ring.launch 

Depends

Eigen 3.3.7