This repository implements an optimization strategy for singularity free trajectory generation for the serial robots.
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Solve Task-Space Inverse Dynamics for Linear Motions.
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Solve Direct Inverse Dynamics for Joint Motions.
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Avoids Singularity poses dynamically.
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Uses Keyboard as a Teleoperation optionally for Task-Space Motion.
- Joint-Space PID Controller,
- Task-Space PID Controller,
Source: https://www.diag.uniroma1.it/~deluca/rob2_en/material_rob2_en.html
| Joint Space Control | Task Space Control |
|---|---|
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- Name: Kanishk Navale
- Email: [email protected]
- Website: https://kanishknavale.github.io/