Cartesian Control for Robotic Arms
I developed a ROS2 node to perform Cartesian control and numerical inverse kinematics for the Franka Panda and Universal UR5 robotic arms. The information given was the transforms from the base to the end-effector and an array of transforms from the base to each joint.
I coded algorithms that were successfully implemented and tested on RVIZ. In the Cartesian control mode, when you drag the control around, it will continuously issue Cartesian Control commands to the node, and the end-effector will move elegantly to the position and orientation that the control marker indicated.
In the Inverse Kinematics (IK) mode, you can place the marker anywhere you want with any orientation, and click "IK to here". This will issue an IK command to the node, and the algorithm will create numerical IK solutions to compute joint positions for target end-effector poses within specified precision and timeout constraints. If the control marker is out of the workspace, an error of "IK not found" will show up.
I believe this project demonstrates my understanding of robotic kinematics and dynamics and proficiency in ROS2 for real-time robotic control and simulation.
Please watch the video to see the beautiful results!