Design and Control of a Low-Cost Robotic Hand Using the Robot Operating System

This paper presents the design and control of a low-cost robotic arm using the Robot Operating System. Contrariwise to many works in ROS, the inertia parameters of the hand are realistic and the controller is tuned based on the equivalent transfer function of the joint, instead of by experimentation as suggested in many tutorials on using controllers in ROS. The results show that by properly tuning the controller and the Gazebo simulation parameters, the divergence problems that normally arise in the simulator can be avoided.