Obstacle Avoidance Simulation with Robot Arm

Obstacle avoidance is the method of navigating in unknown environemnt by avoiding collisions. The simulation consists of a KUKA robot arm to navigate around predetermined obstacles. Obstacle avoidance with a robot arm requires the use of kinematics to calculate joint angles/positions as well as end effector position. The simulation is given a final end effector position and it uses the initial joint values to calculate the final joint positions to reach the final end effector position without colliding with any obstacles.

Skills:

Software: Python, ROS