Cable Suspended Robots

Environment and source code to simulate cable-suspended dual-arm manipulators developed in the paper:

G. D'Ago, M. Selvaggio, A. Suarez, F. J. Gañán Onieva, L. R. Buonocore, M. Di Castro, V. Lippiello, A. Ollero, F. Ruggiero "Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems", in Robotics and Autonomous Systems Volume 175, May 2024, 104643.

Instructions

The code was tested with Ubuntu 20.04, and ROS Noetic. Different OS and ROS versions are possible but not supported.

Install dependencies

sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers

Compile

catkin_make UnforcedOscillationLicas UnforcedOscillationCranebot ArmsInducedOscillationCranebot

Run simulation CRANEbot

To start the simulation of the cable-suspended robot hanging from a crane called CRANEbot, launch:

roslaunch cable-suspended-robots-ros-pkg cranebot.launch

Once the simulation has started, in another terminal type the following command to generate an arms-induced oscillation around the vertical axis:

rosrun cable-suspended-robots-ros-pkg ArmsInducedOscillationCranebot

while to generate an unforced oscillation around the Y axis just run:

rosrun cable-suspended-robots-ros-pkg UnforcedOscillationCranebot

Run simulation LiCAS

To launch the simulation of the cable-suspended robot hanging from a drone called LiCAS A1, type:

roslaunch cable-suspended-robots-ros-pkg licasa1.launch

In another terminal run the following command to generate an unforced oscillation in a X-Y combined plane:

rosrun cable-suspended-robots-ros-pkg UnforcedOscillationLicas