Manipulators

This repository contains the code related to the "Modeling and control of robotic manipulators" course. This considers the simulation through the PyBullet environment of 2 robots:

• 6 DoF Elbow robot with spherical wrist
  
  

• 4 DoF Scara robot
  
  

Contents

• Unified Robot Description Format (URDF)
• Visual (dae) and collision meshes (stl)
• Mathematical models necesary for the drivers
• Forward kinematics solver
• Inverse kinematics solver
• Third order trajectory generator
• Simulation scripts
• CAD files in FreeCad format
  

Tools

Name	Version
Python	3.10
PyBullet	3.2.5
Numpy	1.23

Demo

• 6 DoF Elbow robot Elbow_trajectory without considering the collision meshes
• 6 DoF Elbow robot Elbow_collision considering the collision meshes
• 4 DoF Scara robot Scara_P&P during a pick & place application