Goal: Simulated a 7-DOF Robotic Arm (kuka lwr arm) and also to plan the trajectories using ROS for a collision free movement
Topics: Kinematics, Dynamics and Control
Software- ROS, Python
Implementation
- Simulated a 7-DOF Robotic Arm (kuka lwr arm) and also to plan the trajectories using ROS for a collision free movement
- Controlled the position of the end effector in cartesian space using cartesian control and null space control
- Improved by Rapidly-exploring Random Tree (RRT) algorithm to maneuver the end-effector to the desired pose collision free