Pre-requisites:
- PyBullet
- Robotics toolbox
Abstract: In this project, we conducted a comparative study of different motion planning algorithms for surgical tasks. In the second part, we incorporate a remote center of motion (RCM) constraint. We calculate forward kinematics using the DH parameters of the KUKA IIWA arm and utilize an inverse kinematic solver to generate points that satisfy the RCM constraint. These motions are then simulated in a PyBullet environment, and the performance of the algorithms is evaluated.
A sample RCM motion is shown below,
Clone the repository and start working, implemented algorithms may be found in the Algorithms folder, video demonstrations may be found attached to the report
Done by:
- Akhil Bandamidapalli (ME20B016)
- Prithvi Raj B (ME20B137)