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This repository implements an optimization strategy for singularity free trajectory generation for the serial robots.

License: BSD 3-Clause "New" or "Revised" License

Python 100.00%
python3 pinocchio serial-robotics motion-planning pid-control task-space-inverse-dynamics kinematics robotics pygame trajectory-optimization

robot-physics-engine's Introduction

Robot Physics Engine

This repository implements an optimization strategy for singularity free trajectory generation for the serial robots.

Robot Functionalities

  1. Solve Task-Space Inverse Dynamics for Linear Motions.

  2. Solve Direct Inverse Dynamics for Joint Motions.

  3. Avoids Singularity poses dynamically.

  4. Uses Keyboard as a Teleoperation optionally for Task-Space Motion.

Controller Strategies

  1. Joint-Space PID Controller,

  1. Task-Space PID Controller,

Source: https://www.diag.uniroma1.it/~deluca/rob2_en/material_rob2_en.html

Preview

Joint Space Control Task Space Control

Developer

  1. Name: Kanishk Navale
  2. Email: [email protected]
  3. Website: https://kanishknavale.github.io/

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