IceCube Robot Arm Control

This is a open source project for control of a 3-axis robotic arm using micro ROS, with contol of tooltip based on inverse kinematics and path planing

Note: This only works for servo driven arms

How to use

1. Install a Arduino Compiler (ex. Arduino IDE)
2. Upload the code available in the tools folder
3. Launch a micro ros agent on the receiver computer (snap pkg available micro-ros-agent)
4. Download project to ubuntu machine and build
5. Launch the application
6. Post new coordinated to the /icearm_input topic

Hardware

The code is applied and tested with the EEZYbot MK1 and MK2

Project available on EEZYbot MK2

Additional information

The project consist of a c++ library with basic functions, and a facade class for ROS compatibility. The library can be used separately for control of other platforms are to be used.