Robotic Arm

This code is sample code for forward and backward kinematic of a robotic arm. The code was for robotics class. The arm was developed by A-jay98 as the TA of the class.

The code does both forward and backward kinematic.

You can find the details of forward and backward kinematics here

The code is developed using ros services.

Installation

I tested this code on Ubuntu 18.04 with Ros Melodic.

Steps for installation:

1. Initialize your catkin working environment
2. Clone this repository to and move the "src" folder to your workspace
3. Run catkin_make in the root folder of your workspace

How to run

First open a new terminal in the root folder of your workspace

1. Run source devel/setup.bash
2. Run roslaunch AJTemplateBot final_launch.launch

Now open a new terminal in the root folder of your workspace to run the client side

1. Run source devel/setup.bash
2. Run:

• rosrun AJTemplateBot forward_client.py {theta1} {theta2} {theta2} for forward kinematic.
• rosrun AJTemplateBot backward_client.py {x} {y} {z} for backward kinematic.

A picture of the robot in Gazebo workspace