Experiment control algorithm using acrobot mechanism Acrobot is double pendulum mechanism having 1 passive and 1 active joint

Introduction

Set up torque control environment in gazebo using ros_control Now, Just set torque = sin(i) Later, going to apply control algorithm here

Usage

• Download rrbot tutorial in gazebo

cd ~/catkin_ws/src/
git clone https://github.com/ros-simulation/gazebo_ros_demos.git
cd ..
catkin_make

• Download acrobot_control in this repository at ~/catkin_ws/src/

• Authorize scripts/acrobot_control.py

chmod +x acrobot_contro.py

• Launch rrbot_gazebo

roslaunch rrbot_gazebo rrbot_world.launch

• Launch acrobot_control

roslaunch acrobot_control acrobot_control.launch

To do

1. Explain above structure in detail
2. Make above two launch files into one launch file for simplicity
3. Add LQR algorithm

Reference

1. http://gazebosim.org/tutorials?cat=connect_ros
2. https://github.com/JoshMarino/gazebo_and_ros_control