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机械臂仿真和ros_control

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Quella
2026-02-24 22:14:00 +08:00
parent 9d8fc2ba53
commit e781a6e42f
1 changed files with 4 additions and 1 deletions
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5
simulation_ws/robotic_arm/config/controllers.yaml
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@@ -1,10 +1,12 @@
six_axis_arm: six_axis_arm:
# 状态发布
joint_state_controller: joint_state_controller:
type: joint_state_controller/JointStateController type: joint_state_controller/JointStateController
publish_rate: 50 publish_rate: 50
# 轨迹控制
arm_position_controller: arm_position_controller:
type: position_controllers/JointTrajectoryController type: position_controllers/JointTrajectoryController # 使用关节轨迹控制器:让机器人按照轨迹运动到目标位置
joints: joints:
- joint1 - joint1
- joint2 - joint2
@@ -13,6 +15,7 @@ six_axis_arm:
- joint5 - joint5
- joint6 - joint6
gains: gains:
# 每个关节的PID增益设置
joint1: { p: 100, d: 10, i: 0.01 } joint1: { p: 100, d: 10, i: 0.01 }
joint2: { p: 100, d: 10, i: 0.01 } joint2: { p: 100, d: 10, i: 0.01 }
joint3: { p: 100, d: 10, i: 0.01 } joint3: { p: 100, d: 10, i: 0.01 }