🤖 PA-10 Robotic Arm Simulation with Dynamic Control and RViz Visualization

This repository simulates a Mitsubishi PA-10 robotic arm in ROS 2 Jazzy using custom dynamic control based on operational space and null-space projection. The system visualizes joint trajectories in RViz and Gazebo and can be extended to simulate object pickup via markers.

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PA-10 Rviz Control Simulation

📦 Features

• Symbolic + numerical dynamic model of the 7-DOF PA-10 arm using roboticstoolbox
• Multi-goal joint trajectory execution using solve_ivp
• Joint state publishing for real-time RViz visualization
• Modular design with clear separation between dynamics and ROS node
• Marker-based extension support to simulate object grasping in RViz

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🚀 Requirements

• ROS 2 Jazzy and Gazebo

• Ubuntu 24.04 with Python 3.12

• Python 3.11 (Virtual env) python3.11 -m venv ~/venvs/my_venv to run nodes that include roboticstoolbox-python, from here we can use pip to install our dependencies.

• Dependencies:

  • rclpy
  • roboticstoolbox-python
  • spatialmath-python
  • scipy
  • matplotlib
  • numpy

Install with:

pip install roboticstoolbox-python spatialmath scipy matplotlib numpy<2"

Notes:

roboticstoolbox-python should be replaced in the future with better DH solvers out there if software doesn't get updated to be compatible with python 3.12.

Installing Move-it

• sudo apt install ros--moveit ros--moveit-common

Coming Soon

• Containerization using Docker
• Dual Manipulation