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This project simulates the motion of a quadcopter drone on a Sawyer Robotic Arm. It is being developed for a multi-disciplinary research project at Oklahoma State University.

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SawyerDroneSimulation

This project is being developed for a multidisciplinary research project at Oklahoma State University. This code simulates a quadcopter drone on a Sawer Robotic Arm.

Files of interest:

1. - sawyer_ws/src/position_control/scripts/position_control.py
2. - sawyer_ws/src/position_control/scripts/motion_control.py
3. - sawyer_ws/src/position_control/scripts/drone_control.py
4. - sawyer_ws/src/position_control/scripts/drone_sim.py
5. - sawyer_ws/src/position_control/scripts/drone_sim_joints.py

Intera Inverse Kinematics Solver

The SDK maintains a rosservice for solving inverse kinematics problems. It is exemplified in:
sawyer_ws/src/intera_sdk/intera_examples/scripts/ik_service_client.py

Their example code is decently documented and works as a general guide. Further examples can be found in 1. and 5.

Intera SDK Control Interfaces

The Intera SDK contains multiple methods of controlling the arm.

Motion Controller

The Motion Controller Interface is a simplified method of giving the arm specific waypoints. It hfas two interpolation settings: CARTESIAN and JOINT. Both serve different purposes and must be implemented in different ways.

CARTESIAN - This mode tracks linearly from point to point. It is useful

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This project simulates the motion of a quadcopter drone on a Sawyer Robotic Arm. It is being developed for a multi-disciplinary research project at Oklahoma State University.

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