Simulating the forward Kinematics of Interbotix wx200 robotic Arm

This repository contains the python script of forward kinematics and ros package related files that I have used to simulate the forward kinematics of the serial manipulator arm in the RVIZ.

System Setup

For solving the task ros package will be build with following dependencies. Use the following commands to install the required dependencies

$ git clone https://github.com/Interbotix/interbotix_ros_arms.git
$ sudo apt-get update
$ sudo apt-get upgrade
$ sudo apt update
$ sudo apt install ros-noetic-joint-state-publisher-gui
$ sudo apt install ros-noetic-controller-manager
$ sudo apt install ros-noetic-effort-controllers
$ sudo apt install ros-noetic-gazebo-ros-control
$ sudo apt install ros-noetic-joint-state-controller
$ sudo apt install ros-noetic-joint-trajectory-controller
$ sudo apt-get install ros-noetic-moveit
$ sudo apt-get install ros-noetic-moveit-visual-tools
$ sudo apt-get install ros-noetic-dynamixel-workbench-toolbox

Task Description

• Compute the end effector position and orientation of the manipulator.
• Simulate the joint motion in the RVIZ
• Validate the joint angle and end effector position position with the conventional DH method

Result:

interbotix.mp4