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Introduction-to-Manipulators-FoR_Fall20IU

This repository was made for assignments for "Fundamentals of Robotics" course at Innopolis University [Fall 2020 - 1st semester, 3rd year]

Assignments:

  1. Solve Forward and Inverse Kinematics for KUKA KR 10 R1100-2 manipulator

Robot Visualization

  1. Create urdf and ROS package for Crawling robot with a node to control the positions of the joints of the robot

Robot visualization

  1. Compute the Jacobian by two methods & find and identify the singularity configurations

Shoulder

  1. Create different Trajectory Planning profiles and commands for RRR robot

Trajectory Planning

  1. Create dynamics model for RR planar robot (Direct using Lagrange and Inverse using Newton)

Configuration 4

  1. Calibration for a 6-DoF Fanuc manipulator (FANUC_R_2000i) which is being done by algorithms from the following literatures:
  • Wu, Y. Optimal pose selection for the identification of geometric and elastostatic parameters of machining robots. PhD thesis, 2014.
  • Wu, Y., Klimchik, A., Caro, S., Furet, B., and Pashkevich, A. Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments. Robotics and Computer-Integrated Manufacturing 35 (2015), 151–168.