We have developed a lightweight 2 DoF robotic arm interfaced with ROS for teaching robot arm control design. The source code that implement many popular control scheme (computed torque, joint-space impedance, task-space impedance, etc...) is available here: https://github.com/SherbyRobotics/tmotor_ros
UdeS Team: Fredérick St-Onge (B.Ing. student), ... , and Prof. Alexandre Girard