Keyword: ROS, Python, Robot Manipulation
These two videos above show the simulation of a UR5 robot based on ROS. This demo is part of the assignments of MENG 449 Robotics Manipulation.
In this project, a self-defined library which contains the functions for both solve the inverse kinematics and forward kinematics solutions. A self-designed urdf description is implemented which allows user to visualize the simulation on Rviz.
The two videos are both about path planning for UR5. The idea is that given two transforms of the end effector in SE3 space, a trajectory is planned between these two transforms. The robot is going to follow this trajectory until it reaches the destination. The first video shows trajectory based on joint angle method while the second video trajectory based on Cartesian method.
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