Using the ros2_control framework, students implement and tune controllers on the custom torque-controlled 3-DoF manipulator. They compare the behaviour of a simple position controller against a gravity-compensated torque controller — experiencing directly why dynamic modelling matters for real performance.

This session marks students’ first contact with the research-grade hardware: the custom manipulator’s torque sensing and low-level interface offer a sharp contrast to the AL5D used in earlier sessions.