Motion Planning of Kuka youBot
Nov 2017- Dec 2017
Robots have the capability to follow precise trajectories at desired velocities and accelerations dictated by robot kinematics (dynamics neglected here..)
This project is the application of concepts of Forward and Inverse Kinematics to manipulate the end effector of KUKA youBot along a given time-scaled reference trajectory. A PI feedback controller is used for error compensation. The animation of the simulation is below:
The entire simulation was done using Mathematica. The link to the Git Repository is here.
The error vs time plots for two different sets of Kp and Ki are shown below:
Skills Involved
- Mathematica
- Inverse Kinematics
- Feedback Control
- V-Rep