Final version of the Cyton Robot arm ROS integration

Hello readers!

I just wanted to make a quick post on getting your attention to a short paper I wrote for my robotics seminar class that I did the work with the Cyton 300 arm which you can get here. I don’t intend on publishing it in a conference, but I still wanted to share it with the world.

The essence is that I’ve made a previous post about using the Cyton software with ROS. Well, since then, I’ve abandoned the Cyton software, since it was pretty flaky and I’ve found low level drivers for the Dynamixel motors that they use in the arm. This gives you a much better control over the arm.

Now that I’m done with the class, I no longer am working with the robot arm. I’ve had a lot of people asking about the arm, so there seems to be some interest in my work. Unfortunately, without an arm to test things on, I haven’t been able to give more information than what is already on my github repository.

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