What you'll learn:
- 7 DOF Franka Panda arm with Custom Controllers and Trajectory Nodes
- Building Custom Effort and Trajectory Controller for Robotic Arm in Gazebo
- Forward and Inverse Kinematics with RTB solution
- Derive Denavit–Hartenberg table representation for your robots
- Basic 3D Structure of Robotic Arm with URDF
- Building 3 DOF Custom Robotic Arm for Gazebo Simulation
Course Workflow:
We will start by creating a custom robot named as BAZU . Which will be created from scratch , URDF containing joints, links are going to be explored in depth. Once the robotic arm will be created we will add Controllers into it (position, effort, Joint Trajectory) from ros2_control package .This will lead us to DH tables for forward and inverse kinematics solutions for our custom robot using Robotics Toolbox by Peter Corke .
After understanding all the basics of with a Custom Robotic Arm we will move to a very well known commercial robotic arm Franka Emika Panda 7 degree of freedom robotic arm. Our first Object will be to install custom controller into it as we would have learned that in previous sections .Only reason to do that is to be able to control any working URDF robot available . Forward and inverse kinematics will be solved for this robot with the help of robotics tool box mentioned earlier .
Last thing we will do is to make a action lib interface for Joint Trajectory for panda robot so we just need to send way points and it moves it's end effect in a shape that we will define .
Outcomes After this Course : You can create
Custom Workspace
Custom Python Packages
Custom Robotic Arms
Ros2 Control Interfaces
Forward and Inverse Kinematics Solution
Launch files
RVIZ and Gazebo Simulation Fundamentals
Custom Controllers for you Robots
Position Controller
Effort Controller
Joint Trajectory Controller
Panda Robot Trajectory Execution
Software Requirements
Ubuntu 22.04
ROS2 Humble
Motivated mind for a huge programming Project
