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Description

Assignments for advanced robotics module in University of Birmingham (forward kinematics & inverse kinematics)

Requirements

  • ROS Noetic or later
  • Ubuntu 20.04 or later
  • Panda simulator package panda_simulator.

Installation:

  1. Create a new workspace:
mkdir -p ~/uob_ar_assignment/src
cd ~/uob_ar_assignment/src
catkin_init_workspace
  1. Clone the package into the workspace:
git clone https://github.com/HyPAIR/Advanced-Robotics-Assignment.git
  1. Build the workspace:
cd ~/uob_ar_assignment
catkin_make_isolated
source devel_isolated/setup.bash

Usage

Test forward kinematics

Launch the node to visualize Franka Emika:

cd ~/uob_ar_assignment
source devel_isolated/setup.bash
roslaunch advance_robotics_assignment assignment1_fk.launch

Open a new terminal and run the following file to visualize the results of your forward kinematics calculations.

source devel_isolated/setup.bash
cd uob_ar_assignment/src/Advanced-Robotics-Assignment/advance_robotics_assignment/assignment/assignment1_FK
python3 forward_kinematics.py

fk

Test inverse kinematics

Launch the node to visualize Franka Emika:

cd ~/uob_ar_assignment
source devel_isolated/setup.bash
roslaunch advance_robotics_assignment assignment2_lk.launch

Open a new terminal and run the following file to visualize the results of your inverse kinematics solution.

source devel_isolated/setup.bash
cd uob_ar_assignment/src/Advanced-Robotics-Assignment/advance_robotics_assignment/assignment/assignment2_IK
python3 inverse_kinematics.py

ik