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Two Link Planar Robot

September 28, 2015

roboticsrosurdfkinematics

Project Website

https://github.com/patilnabhi/tlpr

About

A ROS tutorial developed as part of ME495 - Embedded Systems in Robotics course in Northwestern University.

Goal

To design a Two Link Planar Robot (TLPR) whose end effector traces and draws a circle.

Project Objectives

1. Develop an URDF for TLPR.
2. Use inverse kinematics to determine the joint angles given following trajectory:

3. Move the end effector by publishing sensor_msgs/JointState message.
4. Animate the trajectory by repeatedly using lookupTransform of tf.TransformListener and publishing a visualization_msgs/Marker to visualize path of the end effector.

Project Demo