An open-source 6 DoF motion platform capable of producing controlled highly dynamic motion in 3D space.
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Updated
Jul 16, 2023 - Python
An open-source 6 DoF motion platform capable of producing controlled highly dynamic motion in 3D space.
A 6 degree of freedom (DOF) robot arm is controlled using the ROS2 robotic manipulation platform, MoveIt 2. The ROS2 Humble version of MoveIt 2 is used, which runs in a Docker container on an Nvidia Jetson Nano board. The robot arm is equipped with an Intel Realsense D415 depth camera used to detect ArUco markers on objects to be picked up.
Software to provide a GUI as an interface between the user and the base driving program, comes with forward and inverse kinematic scripts and a sexy GUI.
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