Understanding DYNAMIXEL ROS servo controllers for robot hardware interfacing

Till now, we have learned about MoveIt! interfacing using Gazebo simulation. In this section, we will see how to replace Gazebo and put a real robot interface to MoveIt!. Let's discuss DYNAMIXEL servos and the ROS controllers.

DYNAMIXEL servos

DYNAMIXEL servos are smart, high-performance networked actuators for high-end robotics applications. These servos are manufactured by a Korean company called ROBOTIS (http://en.robotis.com/). These servos are very popular among robotics enthusiasts because they can provide excellent position and torque control, as well as a variety of feedback, such as position, speed, temperature, voltage, and so on. One of their useful features is that they can be networked in a daisy-chain manner. This feature is very useful in multi-joint systems, such as robotic arms, humanoid robots, robotic snakes, and others. The servos can be directly connected to PCs using a Universal...