Catalyst Robot Ros

This was a project that aimed to replace the old control interface of a catalyst robot, at the mechatonics lab of Ain Shams University, that could only be done with MATLAB. The project goals were to:

  • Build an interface for the old PCI data acquisition card on Ubuntu.
  • Make proper ROS packages for the robot.
  • Apply different control schemes on the robot: Position, Impedance, and Admittance.
Unforetunately due to the pandemic and the lockdown, all goals could not be achieved.
here are some videos showing the progress that was done.


There was a plan to mount the robot on a linear platform: