/ROS-Simulation-of-KUKA-LBR-iiwa-manipulator-

A 6 DOF robotic arm, called cyber-knife which is used in complex radio surgical procedures

Primary LanguagePythonMIT LicenseMIT

ROS-Simulation-of-KUKA-LBR-iiwa-manipulator

ENPM662 Final Project (Cyberknife: A non invasive radiosurgical application of robotics)

Team Members
Bharadwaj Chukkala
Joseph Pranadeer Reddy Katakam
Bhargav Kumar Soothram

Contents

  1. Part Files and Assembly
  2. Package

Dependencies

  • python 3.9 [works for any python 3 version]
  • IDE [I used PyCharm IDE to program the Code and Execute the Code]
  • Libraries: numpy, matplotlib.pyplot, heapq, time

How to run the code

--> Create a catkin_ws and build it, then source it

--> Download the package

--> Paste the package in the source directory

--> Build and source the workspace

--> Commands to run (open separate terminals and run in the same order)

  roslaunch Assembly_Toby template_launch.launch
  rosrun Assembly_Toby publisher.py
  rosrun Assembly_Toby subscriber.py

Check out the final video here 👇

https://drive.google.com/file/d/1k4bVFm9eszw6IDoCDINYM6II19aMtiYY/view?usp=sharing

Contact Author

Name : Bharadwaj Chukkala
Email : bchukkal@terpmail.umd.edu

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MIT license