Scara Robot Simulation and Control using ROS and MATLAB

Overview

This project simulates and controls a SCARA (Selective Compliance Assembly Robot Arm) robot using ROS (Robot Operating System) and MATLAB. It includes configuration files, launch files, 3D models, and control scripts for an integrated simulation environment.

Repository Structure

• config/: ROS configuration files.
• launch/: Launch files for ROS nodes.
• meshes/: 3D models for the SCARA robot.
• urdf/: URDF files for robot description.
• CMakeLists.txt: CMake build configuration.
• README.md: Project documentation.
• export.log: Export log file.
• package.xml: Package configuration.

Requirements

• ROS: Install ROS on your system.
• MATLAB: Install MATLAB with the required toolboxes.

Installation

1. Clone the Repository

   git clone https://github.com/bethlehem-dagnachew/scara-robot-simulation-and-control-using-ros.git
   cd scara-robot-simulation-and-control-using-ros

2. Build the ROS Package

   cd catkin_ws
   catkin_make
   source devel/setup.bash

3. Launch the ROS Nodes

   roslaunch scara_robot scara_simulation.launch

Simulation and Control

1. Launch the Simulation

   roslaunch scara_robot scara_simulation.launch

Usage

• Simulation: Use URDF files and launch configurations to simulate the SCARA robot.
• Control: Use MATLAB scripts to send control commands.

Contributing

Contributions are welcome! Please submit a pull request or open an issue for discussion.