Forward and Inverse Kinematics

Forward kinematics is computating end-effector positioning using specified joint values. Inverse kinematics is computing joint values using specified end-effector values. This simulation is made using Robot Operating System (ROS) and programmed with Python and C++. It shows forward and inverse kinematics with a KUKA and URD5 robot arm. It showcases multiple positions each arm must achieve and also allow shows how an arm can be manipulated and if movement is achievable, the joints will move accordingly.

Skills:

Software: Simulations, Python, C++, ROS