ros_arm_kinematics

ROS based robotic arm kinematics. A simulation of an arm in the environment with obstacles.

Plan:

step 1

• build a mathematical model for a two joint arm
• implement the model via ros & gazeba tools
• test performance

step 2

• build a more sophisticated mathematical model for a real world arm
• implement the model via ros & gazeba tools
• test performance

• architecture of an arm
• transformation matrices
• Jacobians

Experimenting on matlab using a robotics toolchain by prof. Corke

• test forward kinamatics on a standard arm
• test inverse kinamatics on a standard arm

Model description

This is a homogeneous matrix template to compute a homogeneous matrix for a specific arm

Next we will consider a scesific arm with number of joints and their types

Let's start with an arm with 6 revolute joints.

A classic robotic arm with Euler wrist at TCP