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UR skew control

prepare:

  1. ros
  2. pyqt

main convenience

skew theory is used here to kinematic and dynamic control of the ur robotic arm

Note

start

  1. start robotiq_ft_sensor ( sudo chmod 666 /dev/ttyUSB2 )
  2. start imu sensor ( sudo chmod 666 /dev/ttyUSB3), roslaunch demo_singlercr imu_bringup.launch