Write ROS Controllers for Forward and Inverse Kinematics for Trajectory and Build Robotic Manipulators from Scratch
6 DOF KUKA arm with Custom Controllers and Trajectory Nodes
Building Custom Effort and Trajectory Controller for Robotic Arm in Gazebo
Forward and Inverse Kinematics with RTB solution
Derive Denavit-Hartenberg table representation for your robots
Basic 3D Structure of Robotic Arm with URDF
ROS 1 Basics workflows , nodes communication , Launch Files
Understanding of Basics of Python 3
Installations : ROS 2 Noetic , Ubuntu 20.
04 Focal
Course Workflow:
We will start by creating a custom robot named as Big BAZU . Which will be created from scratch , URDF containing joints, links are going to be explored in depth. Once the robotic arm will be created we will add Controllers into it (position, effort, Joint Trajectory) from ros_control package .This will lead us to DH tables for forward and inverse kinematics solutions for our custom robot using IKPY a python library.
After understanding all the basics of with a Custom Robotic Arm we will move to a very well known commercial robotic arm KUKA KR210 6 degree of freedom robotic arm. Our first Object will be to install custom controller into it as we would have learned that in previous sections .Only reason to do that is to be able to control any working URDF robot available . Forward and inverse kinematics will be solved for this robot with the help of robotics tool box mentioned earlier .
Last thing we will do is to make a action lib interface for Joint Trajectory for KUKA robot so we just need to send way points and it moves it’s end effect in a shape that we will define .
Outcomes After this Course : You can create
