Visual Servoing for Flexible Robot Manipulators

This is a class project for CMU 16-711 Kinematics, Dynamics and Control, Spring 2020.

Demo Video:

Link to Project Report

Getting Started

Dependencies

1. Ubuntu 18.04
2. ROS Melodic
3. CoppeliaSim v4.0.0+ (Install CoppeliaSim)
4. CoppeliaSim ROS 1.0 Plugin (Copy compiledRosPlugins/libsimExtROSInterface.so out to installation dir)
5. Apriltag: rosdep install --from-paths src --ignore-src -r -y

Optional Dependencies

1. Vortex Studio (for better dynamics simulation)

Running The Demo

Setting up ROS workspace and build the project

mkdir -p ~/16711_ws/src
cd ~/16711_ws/src
git clone https://github.com/harveybia/jacobian-visual-servo
catkin build
source ~/16711_ws/src/jacobian-visual-servo/devel/setup.bash

Starting CoppeliaSim robot simulation

roscore & # Run roscore however you like

cd <CoppeliaSim_Installation_Dir>
./coppeliaSim.sh # Run after roscore is running

# Open snake_arm.simscene.xml and tap play button

Running our control script

rosrun jacobian-visual-servo uncertain_IK_server

Running April Tag localization

1. april tag node

roslaunch apriltag_ros continuous_detection.launch

2. camera info publisher node

roslaunch apriltag_utils caminfo_pub.launch

Authors

• Haowen (Harvey) Shi ([email protected])
• Daqian Cheng ([email protected])
• Hengrui (Henry) Zhang ([email protected])