Controlling-Robot-Gripper-using-ROS

Controlling a two fingered robot gripper using 2 dynamixel RX-24F motors and Potentiometers to calculate the stiffness of the object.

For controlling dynamixel RX-24f

Download the dynamixel_sdk package for ROS which has all the libraries to work with.(http://wiki.ros.org/dynamixel_sdk)
Download and copy my code to the DynamxelSDK/ROS/dynamixel_sdk_examples/src
For cpp files required changes are to be made in the cmakelist and the package.xml files.

Download the phidget ROS package (http://wiki.ros.org/phidgets)
Download and copy the my potentiometer reading code in phidgets_drivers/phidgets_ik/src
For cpp files required changes are to be made in the cmakelist and the package.xml files.

Name		Name	Last commit message	Last commit date
Latest commit History 11 Commits
LICENSE		LICENSE
README.md		README.md
gripper_multiple_potentiometer_read.cpp		gripper_multiple_potentiometer_read.cpp
multiple_potentiometer_read_Gripper.py		multiple_potentiometer_read_Gripper.py
potentiometer_read.cpp		potentiometer_read.cpp
potentiometer_read.py		potentiometer_read.py
set_get_position_dxl.py		set_get_position_dxl.py
set_position_dxl.cpp		set_position_dxl.cpp
stiffness_algorithm.py		stiffness_algorithm.py