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Applied Robotics

Projects in applied robotics, leveraging ROS 2 to implement from scratch cartesian control, inverse kinematics, path planning (using RRT algorithm), and more.

Robots used: UR5e, Franka Emika.

Cartesian Control

Cartesian Control on UR5e. End effector pose can be controlled along one degree of freedom, without influencing the rest.

Can handle singularities by using the pseudoinverse of the jacobian.

Cartesian Control on Franka Emika.

As a redundant robot (7 joints for 6 DOF), one of the joints can be moved without influencing the end-effector pose (by moving in the nullspace of the jacobian).

Applied Robotics

Cartesian Control

Numerical Inverse Kinematics

Path Planning Using RRT (2D Demonstration)

Path Planning Using RRT on UR5e