jayshkhan / 5-1dof_kinematics

Forward and inverse Kinematics of 5 DOF + 1 Gripper DOF of ROT3U Robotic Arm

5-1 DOF ROT3U kinematics

Forward and inverse Kinematics of 5 DOF + 1 Gripper DOF of ROT3U Robotic Arm

• Forward Kinematics
• Inverse Kinematics
• Performing Task with Rot3u
• Hardware Implementation

Forward Kinematics

The forward kinematics of a robot is the method of calculating the Cartesian coordinates of the end-effector from the joint angles of the robot. The forward kinematics of the ROT3U robotic arm is calculated using the Denavit-Hartenberg ( DH) parameters.

Inverse Kinematics

The inverse kinematics of a robot is the method of calculating the joint angles of the robot from the Cartesian coordinates of the end-effector. The inverse kinematics of the ROT3U robotic arm is calculated using the Geometric method.

Simulation

Still undecided on the simulation software to be used for the simulation of the ROT3U robotic arm.

Hardware Implementation

The hardware implementation of the ROT3U robotic arm will be done using the following components:

• ROT3U Robotic Arm
  • 6 x Servo Motors
  • 1 x Arduino Uno
  • 1 x Power Supply

Documentation

• FK Documentation Link

• Forward Kinematics
• Inverse Kinematics
• Simulation

The Cartesian Choreographers team Member ( Yup Thats The Team Name)

• Jaysh Khan
• Zain ul Abideen
• Syed Furqan Ali
• Rana Talal Ahmed

references

• Denavit-Hartenberg (DH) parameters
• Geometric method for Inverse Kinematics

TODO:

• Forward Kinematics
• Inverse Kinematics
• Add Visualization in GUI
• Simulation
• Hardware Implementation