ROS2 Ultimate guide for Kuka 6 DOF and Custom Robotic Arms
https://CourseWikia.com
MP4 | Video: h264, 1280x720 | Audio: AAC, 44.1 KHz, 2 Ch
Genre: eLearning | Language: English | Duration: 30 lectures (3h 16m) | Size: 2.94 GB
Write ROS Controllers for Forward and Inverse Kinematics for Trajectory and Build Robotic Manipulators from Scratch
What you'll learn:
6 DOF KUKA arm with Custom Controllers and Trajectory Nodes
Building Custom Effort and Trajectory Controller for Robotic Arm in Gazebo
Forward and Inverse Kinematics with RTB solution
Derive Denavit–Hartenberg table representation for your robots
Basic 3D Structure of Robotic Arm with URDF
Requirements
ROS 1 Basics workflows , nodes communication , Launch Files
Understanding of Basics of Python 3
Installations : ROS 2 Noetic , Ubuntu 20.04 Focal
Description
Course Workflow:
We will start by creating a custom robot named as Big BAZU . Which will be created from scratch , URDF containing joints, links are going to be explored in depth. Once the robotic arm will be created we will add Controllers into it (position, effort, Joint Trajectory) from ros_control package .This will lead us to DH tables for forward and inverse kinematics solutions for our custom robot using IKPY a python library.