机械臂仿真和ros_control

2026-02-24 22:14:00 +08:00
parent 9d8fc2ba53
commit e781a6e42f
1 changed files with 4 additions and 1 deletions
--- a/simulation_ws/robotic_arm/config/controllers.yaml
+++ b/simulation_ws/robotic_arm/config/controllers.yaml
@@ -1,10 +1,12 @@
 six_axis_arm:
+  # 状态发布
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50

+  # 轨迹控制
  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:
      - joint1
      - joint2
@@ -13,6 +15,7 @@ six_axis_arm:
      - joint5
      - joint6
    gains:
+      # 每个关节的PID增益设置
      joint1: { p: 100, d: 10, i: 0.01 }
      joint2: { p: 100, d: 10, i: 0.01 }
      joint3: { p: 100, d: 10, i: 0.01 }