Torque Control of a KUKA youBot Arm

Title: Torque Control of a KUKA youBot Arm

Autor: Benjamin Keiser

University: Robotics and Perception Group, University of Zurich

Abstract:  Existing control schemes for the youBot arm, such as directly controlling joint positions or velocities, are not suited for close tracking of end effector trajectories. The aim of this project is to develop a torque controller, based on the dynamical model of the youBot arm, to overcome this limitation. Complementary to the controller, a framework to automatically generate trajectories should be developed. The tracking performance of the torque controller should then be compared to existing control schemes. As an application, objects should be picked up autonomously using the developed controller. In addition to control design, this requires the implementation of an object detection from RGBD sensor data.

Videos: 

Torque control of the KUKA youBot arm 

Software:

youBot torque control

youBot ROS PKG