基于matlab+c++实现的ZJU机器人学ROS机械臂作业+源码（高分优秀项目）

## ReadMe ### File | Folder | Presentation | | ----------- | ------------------------------------------------------------ | | /code | 含`probot_gazebo` ROS Package; 其中/src 下包含实验1-5&大作业代码 | | /img | 文档内所需图片 | | /video | 验证视频 | | /doc | md文档 | | /experiment | 机械臂敲铃实物代码及报告 | 实物敲铃实验的代码为MATLAB代码，使用了MATLAB ROS ToolBox. ### Run ``` catkin_make ``` ##### Lab 1 正逆运动学 ``` roslaunch probot_gazebo probot_anno_position_control_bringup.launch roslaunch probot_gazebo invert.launch ``` ##### Lab 3 Jacobi速度传递 ``` roslaunch probot_gazebo probot_anno_velocity_control_ring_bringup.launch roslaunch probot_gazebo jacobi.launch ``` ##### Lab 4 轨迹规划 ``` roslaunch probot_gazebo probot_anno_velocity_control_ring_bringup.launch roslaunch probot_gazebo trajectory.launch ``` ##### Lab 5 定点转动 ``` roslaunch probot_gazebo probot_anno_velocity_control_ring_bringup.launch roslaunch probot_gazebo fixpoint.launch ``` ##### 大作业 Ring ``` roslaunch probot_gazebo probot_anno_velocity_control_ring_bringup.launch roslaunch probot_gazebo ring.launch ``` ### Depends Eigen 3.3.7