https://github.com/kounelisagis/robotics-playground

https://github.com/kounelisagis/robotics-playground

Last synced: 24 days ago
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• Host: GitHub
• URL: https://github.com/kounelisagis/robotics-playground
• Owner: kounelisagis
• Created: 2022-04-01T20:32:16.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2023-09-18T17:44:07.000Z (about 1 year ago)
• Last Synced: 2023-09-19T00:17:35.652Z (about 1 year ago)
• Language: Python
• Size: 2.9 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Robotics-Playground

###  Quadruped Robot 

In this project, I created a urdf model for a quadruped robot with at least three degrees of freedom at each leg. I determined the sizes of the body segments and selected appropriate joint types. I loaded the model in RobotDART and wrote code to calculate the position of each body segment in space, given the positions of the joints. I used numpy and Eigen for mathematical computations.

### PID task spacetorque 

In this project, I implemented a PID controller operating in the task-space for controlling a KUKA Iiwa 14 robotic arm using torque motors. I used RobotDART to compute the necessary dynamic equations and created a scenario where the robot can move from a random initial state within joint limits to a specified target position and orientation.

### Tiago pick and place

In this project, I have successfully designed and implemented a versatile controller for the Tiago robot (PAL Robotics), enabling it to efficiently solve a "Pick and Place" scenario. This controller seamlessly allows the robot to grasp a cube from any initial position (within limits) and accurately place it into a basket, which can be positioned anywhere within the workspace. The controller is a Behavior Tree, a fusion of low-level task space controllers.