Explore different approaches to Inverse Kinematics and write custom solvers for the MoveIt framework in ROS.
Learn to calculate the positions of robot arm joints that place and orient the end-effector to the desired target.
While tools like IKFast auto-generate equations and KDL integrates with MoveIt out of the box, challenges can arise with specific robot configurations and complicate troubleshooting for users unfamiliar with these solvers.
While tools like IKFast auto-generate equations and KDL integrates with MoveIt out of the box, challenges can arise with specific robot configurations and complicate troubleshooting for users unfamiliar with these solvers.
We will cover key concepts such as Gradient Descent and Jacobian matrices, examine the inner workings of KDL and IKFast, and follow the same process to write custom solvers that work with MoveIt framework, which supports standard tasks like Pick and Place out of the box.
Who is this course for?
- Robotics enthusiasts building robots from scratch
- Web developers re-defining themselves as Robotics Engineers
- Mechanical, Electrical, and Automation engineers crossing into robotics
- Data Scientists seeking hands-on work in robotics
- High school senior - college freshman level of education required