Robust-Control-of-the-RRBot-Robotic-Arm

Creating a ROS Workspace

Follow these commands

mkdir -p ~/RRbot_ros/src
cd ~/RRbot_ros
catkin_make
echo "source ~/RRbot_ros/devel/setup.bash" >> ~/.bashrc
source ~/RRbot_ros/devel/setup.bash

Clone the repository

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

Update the workspace

sudo apt-get update
sudo apt-get upgrade
sudo apt update
sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers
sudo apt-get install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control

Catkin-make

cd ~/RRbot_ros
catkin_make

Launching the robot in Gazebo

roslaunch rrbot_gazebo rrbot_world.launch

Running the control node

roslaunch rrbot_control rrbot_effort_control.launch

After running the control node, run the 'rrbot_robust_control.m' matlab file provided in the repository.

Robust.Control.mp4

Performance Plots

The plot depicts the desired trajectory generated, that must be followed by the rrbot manipulator and the performance of the manipulator.

After implementing robust-control, theshattering issue in the torques is removed.