Implemented robot inverse kinematics.

Overview

robot_inverse_kinematics

Project setup

# put the package in the workspace
$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash

Description

In this project, we program the inverse kinematic algorithm for a robot, which will move its joints so that it follows a desired path with the end-effector.

It is composed of two parts:

  • A 3 DOF scara robot, with an inverse kinematic solution that is possible in analytic form.
  • A 7 DOF kuka robot, with the inverse kinematic solution to be implemented with iterative algorithms.

Scara robot

The following image shows the distances between the joints and the end-effector frame, in the robot's zero configuration. Two joints (q1 and q2) are revolute, and one (q3) is prismatic. Notice that the end-effector frame and the base frame are at the same height, which means that the end-effector z coordinate coincides with the value of the last prismatic joint (q3).

Kuka robot

This robot has a kinematics structure much more complex than the scara, therefore it is not feasible to obtain an analytic solution for the inverse kinematics problem. The inputs to this function are:

  • point = (x, y, z), the desired position of the end-effector.
  • R = 3x3 rotation matrix, the desired orientation of the end-effector.
  • joint_positions = (q1, q2, q3, q4, q5, q5, q7) the current joint positions.

The output of this function is a vector q containing the 7 joint values that give the desired pose of the end-effector.

This is the DH table of the kuka robot, with the depicted frames:

The DH table follows this convention:

  • a_i distance between z_i-1 and z_i along the axis x_i
  • alpha_i angle between z_i-1 and z_i about the axis x_i
  • d_i distance between x_i-1 and x_i along the axis z_i-1
  • theta_i angle between x_i-1 and x_i about the axis z_i-1

The frame transformation can be found as:

Pseudocode:

# initial guess
q_hat = q + eps_q
while eps_x > tolerance:
    x_hat = K(q_hat)
    eps_x = x_hat - x
    eps_q = inv(J) @ q_hat @ eps_x
    q_hat = q_hat - eps_q

Run the simulator

Scara robot

$ roslaunch kinematics_assignment scara_launch.launch

Kuka robot

$ roslaunch kinematics_assignment kuka_launch.launch

Simulation result (kuka)

Owner
Jianming Han
Deep Learning, Autonomous Driving, Computer Vision, Artificial Intelligence
Jianming Han
MicroPython driver for 74HC595 shift registers

MicroPython 74HC595 A MicroPython library for 74HC595 8-bit shift registers. There's both an SPI version and a bit-bang version, each with a slightly

Mike Causer 17 Nov 29, 2022
This OctoPrint plugin will make the initial connection to 3D Hub a breeze

3D Hub Connector This OctoPrint plugin will make the initial connection to 3D Hub a breeze. In future it will help in setting up a tunnel connection a

3D Hub 2 Aug 03, 2022
Volkswagen ID component for Home Assistant

Volkswagen ID component for Home Assistant This folder contains both a generic Python 3 library for the Volkswagen ID API and a component for Home Ass

55 Jan 07, 2023
LedFx is a network based LED effect controller with support for advanced real-time audio effects

Welcome to LedFx ✨ -Making music come alive! LedFx website: https://ledfx.app/ What is LedFx? What LedFx offers is the ability to take audio input, an

786 Jan 02, 2023
Projet d'integration SRI 3A ROS

projet-integration-sri-2021-2022 Projet d'intégration ROS SRI 2021 2022 Organization: Planification de tâches Perception Saisie: Cédérick Mouliets Sim

AIP Primeca Occitanie 3 Jan 07, 2022
LUNA: a USB multitool & nMigen library

LUNA is a full toolkit for working with USB using FPGA technology; and provides hardware, gateware, and software to enable USB applications.

Great Scott Gadgets 750 Dec 28, 2022
Beam designs for infinite Z 3D printers

A 3D printed beam that is as stiff as steel A while ago Naomi Wu 机械妖姬 very kindly sent us one of Creality's infinite-Z belt printers. Lots of people h

RepRap Ltd 105 Oct 22, 2022
An arduino/ESP project that can play back G-Force data previously recorded

An arduino/ESP project that can play back G-Force data previously recorded

7 Apr 12, 2022
Count the number of people around you 👨‍👨‍👦 by monitoring wifi signals 📡 .

howmanypeoplearearound Count the number of people around you 👨‍👨‍👦 by monitoring wifi signals 📡 . howmanypeoplearearound calculates the number of

Zack 6.7k Jan 07, 2023
Terkin is a flexible data logger application for MicroPython and CPython environments.

Terkin Data logging for humans, written in MicroPython. Documentation: https://terkin.org/ Source Code: https://github.com/hiveeyes/terkin-datalogger

hiveeyes 45 Dec 15, 2022
Doughskript interpreter for converting simple command sequences into executable Arduino C++ code.

Doughskript interpreter for converting simple command sequences into executable Arduino C++ code.

Svjatoslav 2 Jan 11, 2022
A Home Assistant integration for Solaredge inverters

A Home Assistant integration for Solaredge inverters. Supports multiple inverters chained through RS485.

Seth 50 Dec 23, 2022
A Fast, Easy, and User Friendly way to control Robotics Actuators.

T-Motor Controller A Fast, Easy, and User Friendly way to control Robotics Actuators. View Demo · Report Bug · Request Feature Table of Contents About

26 Aug 23, 2022
Open source home automation that puts local control and privacy first.

Home Assistant Open source home automation that puts local control and privacy first. Powered by a worldwide community of tinkerers and DIY enthusiast

Home Assistant 57k Jan 01, 2023
Smart Tech Automation Remote via Kinematics Gesture control for IoT devices

STARK Smart Tech Automation Remote via Kinematics Gesture control for IoT devices View Demo · Report Bug · Request Feature Table of Contents About The

Juseong (Joe) Kim 1 Jan 29, 2022
ArduinoWaterHeaterIOT - IoT Probe of a solar PV water heating system - Arduino, Python, MQTT, MySQL

ArduinoWaterHeaterIOT IoT Probe of a solar PV water heating system - Arduino, Raspberry Pi, Python, MQTT, MySQL The Arduino sends the AC and DC watts

Jacques Fourie 1 Jan 11, 2022
The example shows using local self-hosted runners on-premises by making use of a runner on a Raspberry Pi with LED's attached to it

The example shows using local self-hosted runners on-premises by making use of a runner on a Raspberry Pi with LED's attached to it

Martin Woodward 6 Nov 13, 2021
Drobo Status is a python program that will connect to your Drobo and return JSON data regarding your Drobo

This is a simple python script that will run a docker container to pull data from Drobo. It will give information like (Name, serial, firmware, disk-total, disk-used, disk-free and individual disk st

Biofects 1 Jan 15, 2022
Segger Embedded Studio project for building & debugging Flipper Zero firmware.

Segger Embedded Studio project for Flipper Zero firmware Установка Добавить данный репозиторий в качестве сабмодуля в корень локальной копии репозитор

25 Dec 28, 2022
Claussoft Personal Digital Assistant

Claussoft Personal Digital Assistant Install on Linux $ sudo apt update $ sudo apt install espeak ffmpeg libespeak1 portaudio19-dev $ pip install -r r

Christian Clauss 3 Dec 14, 2022