{"id":17841695,"url":"https://github.com/blackcipher101/robotic-arm","last_synced_at":"2025-04-02T14:11:16.992Z","repository":{"id":119133474,"uuid":"344868460","full_name":"Blackcipher101/RobotiC-ARM","owner":"Blackcipher101","description":"Robotic manipulator which uses Forwarn and Inverse kinematics built on ROS","archived":false,"fork":false,"pushed_at":"2021-05-04T16:49:14.000Z","size":7796,"stargazers_count":2,"open_issues_count":0,"forks_count":1,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-02-08T05:16:52.061Z","etag":null,"topics":["forward-kinematics","gazebo","inverse-kinematics","robotics","ros","simulation"],"latest_commit_sha":null,"homepage":"","language":"CMake","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Blackcipher101.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2021-03-05T16:27:17.000Z","updated_at":"2022-03-09T12:41:33.000Z","dependencies_parsed_at":"2023-07-09T23:16:14.935Z","dependency_job_id":null,"html_url":"https://github.com/Blackcipher101/RobotiC-ARM","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Blackcipher101%2FRobotiC-ARM","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Blackcipher101%2FRobotiC-ARM/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Blackcipher101%2FRobotiC-ARM/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Blackcipher101%2FRobotiC-ARM/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Blackcipher101","download_url":"https://codeload.github.com/Blackcipher101/RobotiC-ARM/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":246828502,"owners_count":20840474,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["forward-kinematics","gazebo","inverse-kinematics","robotics","ros","simulation"],"created_at":"2024-10-27T21:06:03.043Z","updated_at":"2025-04-02T14:11:16.970Z","avatar_url":"https://github.com/Blackcipher101.png","language":"CMake","funding_links":[],"categories":[],"sub_categories":[],"readme":"# RobotiC-ARM :mechanical_arm:\nEver seen arms in huge plants:factory:? Yes this is something like that which we a robotic manipulator in techincal terms and if I want to get more technical which I love(coz I brag:stuck_out_tongue_winking_eye:) that is\nit's a 3DOF robot which basically means it has three joints that can move independently of each other something similar to a human arm a revolute joint followed by a continuous joint and another continuous joint.\n\n\n# Comparsison :vs:\n\n\n![](https://i.ibb.co/pnXSK5z/download-1.jpg) \u0026nbsp;\u0026nbsp;\u0026nbsp;  \u003cimg src=\"https://i.ibb.co/Y8PfvwB/Screenshot-2021-05-04-22-00-32.png\" height=\"260px\"\u003e\n\n\n# What does this arm do\nSo with this arm you can pick objects manually using a GUI other than that it uses forward :arrow_right: kinematics to print the end effector coordinates and using inverse kinematics :arrow_left: you can give a coordinate and the arm will align itself to that coordinate giving itself the desired joint values. This is a brief feature list the complete list of nodes is below\n\n# Nodes\n- tf\n- joint_states\n- joint_command\n- forward kinematics\n- inverse kinematics\n\n# Tech and Tools ⚙️\nThe whole thing uses ROS Melodic which makes it really ease to builds nodes and communicate between the nodes. It has both rviz for static simltation and gazebo for dynamic physics sloutions you will see a use of ros-control to command the joints in gazebo\n\n# Working\n\n## Forward Kinematics\n\nhttps://user-images.githubusercontent.com/33775493/117039182-1b1a4100-ad26-11eb-9716-c5116b786dc8.mp4\n\n## Inverse Kinematics\n\nhttps://user-images.githubusercontent.com/33775493/117039426-646a9080-ad26-11eb-94b2-2bc8f2e0e9d8.mp4\n\n\n\n\n\n\n\n# How to run 🏃\n\nClone the repo\n```\ngit clone \u003clink\u003e\n```\nRun ```catkin_make``` in both simulataion and catkin workspace\nThen source the workspace\n```\nsource devel/setup.bash\n```\nAfter this its just lauching the bot and the running the nodes\nIn simultation_ws\n```\nroslaunch gazebo_ros empty_world.launch\nroslaunch arm_description spawn.launch\n```\nIn catkin_ws\n```\nrosrun arm_move arm_move.py\n```\n\n# Contribution 👼\nFeel free to make issues and contribute\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fblackcipher101%2Frobotic-arm","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fblackcipher101%2Frobotic-arm","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fblackcipher101%2Frobotic-arm/lists"}