Robot Arm Control Team Tasks

Main Tasks

1. Forward Kinematics (The easiest one, we just need to know where we are)

2. Inverse Kinematics (This one requires more consideration)

3. Motion Planning (This is related with Inverse Kinematics, you need to consider motor constraints and physical constraints)

4. Simulate Robot Arm (Whatever you guys chose to use)

5. Consider how to implement the controller (remote with IMU and mapping the position of the end effector to the remote in space)

Requirements

1. It needs to run on an STM 32 so you will likely have to implement these yourself

2. Stable movement (it should not tear itself to pieces and trajectories should be as smooth and precise as possible)

3. Real time IK (we need to be able to move the end effector around in real time)

Resources:

1. There are many online

2. https://robotics.caltech.edu/~jwb/courses/ME115/handouts/damped.pdf (for damped jacobian pseudo inverse for IK)

Good Luck 👍

Addendum

Denavit-Hartenberg Parameters: https://youtu.be/rA9tm0gTln8?si=4x_G1ldNQupkrWpk

The Paper: https://www.researchgate.net/publication/360442615_Forward_Inverse_Kinematics_Solution_of_6-DOF_Robots_Those_Have_Offset_Spherical_Wrists