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Low-Cost 2DoF Robotic Arm

Abstract

We have developed a lightweight 2 DoF robotic arm interfaced with ROS for teaching robot arm control design and a simple software wrapper that implements many popular control schemes (computed torque, joint-space impedance, task-space impedance, etc.).

Publications & Resources

💻 Code (GitHub): tmotor_ros (ROS 1) 💻 Code (GitHub): tmotor_ros2 (ROS 2)

Project Media

Prototype
Low-Cost 2DoF Robotic Arm — figure 1
Prototype
Low-Cost 2DoF Robotic Arm — figure 2
Prototype
Low-Cost 2DoF Robotic Arm — figure 3
ROS architecture

Project Details

Team
Fredérick St-Onge, Ian Lalonde and Alexandre Girard