Zhang, Bowei and Liu, Pengcheng orcid.org/0000-0003-0677-4421 (2021) Control and benchmarking of a 7-DOF robotic arm using Gazebo and ROS. PeerJ Computer Science. e383. ISSN 2376-5992
Abstract
Robot controller plays an important role in controlling the robot. The controller mainly aims to eliminate or suppress the influence of uncertain factors on the control robot. Furthermore, there are many types of controllers, and different types of controllers have different features. To explore the differences between controllers of the same category, this paper studies some controllers from basic controllers and advanced controllers. This paper conducts the benchmarking of the selected controller through pre-set tests. The test task is the most commonly used pick and place. Furthermore, to complete the robustness test, a task of external force interference is also set to observe whether the controller can control the robot arm to return to a normal state. Subsequently, the accuracy, control efficiency, jitter and robustness of the robot arm controlled by the controller are analyzed by comparing the Position and Effort data. Finally, some future works of the benchmarking and reasonable improvement methods are discussed.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2021, The Author(s) |
Dates: |
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Institution: | The University of York |
Academic Units: | The University of York > Faculty of Sciences (York) > Computer Science (York) |
Depositing User: | Pure (York) |
Date Deposited: | 14 Jan 2021 12:30 |
Last Modified: | 17 Feb 2025 00:09 |
Published Version: | https://doi.org/10.7717/peerj-cs.383 |
Status: | Published online |
Refereed: | Yes |
Identification Number: | 10.7717/peerj-cs.383 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:170059 |