Arm Kinematics - ROS1

The main objectives of this project are:

• Find the Denavit Hartenberg parameters of the robot
• Do the forward kinematics
• Do the inverse kinematics

move.robot.using.inverse.kinemtics.mp4

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Setup the project

Launch simulation

source ~/simulation_ws/devel/setup.bash
roslaunch antropomorphic_arm_gazebo main.launch

Launch rviz

rosrun rviz rviz -d /home/user/catkin_ws/src/antropomorphic_3dof.rviz

Launch Control GUI

roslaunch antropomorphic_arm_control antropomorphic_arm_sim_rqt.launch 

For check the position

rostopic echo /end_effector_real_pose

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Execute Tasks

Task 1

cd ~/catkin_ws
rosrun antropomorphic_project generate_matrixes.py

Task 2

rosrun antropomorphic_project fk_antropomorphic_arm.py

Task 3

rosrun antropomorphic_project ik_antropomorphic_arm.py

Task 4

roslaunch antropomorphic_project start_elipsoidal_motion.launch

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Denavit-Hartenberg

link	r	alpha	d	theta
1	0	π/2	l_1	θ_1
2	l_2	0	0	θ_2
3	l_3	0	0	θ_3