Design an inverse kinematic controller to move end-effector. This work is done as a coursework for the 2nd semester of MAIA in Introduction to Robotics course.
Design an inverse kinematic controller to move end-effector. This work is done as a coursework for the 2nd semester of MAIA in Introduction to Robotics course.
The task was to design an Inverse Kinematic controller to move the end-effector from the position
pA to the position pB The movement should be repeated 3 times
by control:
- the position-only without exploiting the redundancy
- the position and the orientation without exploiting the redundancy (desired orientation equal to the initial one)
- the position and the orientation avoiding an obstacle put in p0 (desired orientation equal to the initial one)
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