In this project, a SCARA manipulator is designed using URDF and position and velocity controllers are implemented to move the robot in the desired way.
- ROS2
- PID controller
- Gazebo
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A URDF model of the SCARA robot was developed and spawned in Gazebo environment.
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The Forward Kinematics and Inverse Kinematics of the robot was calculated and a PID controller was used to control the end-effector position.
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Similarly, the Jacobian and Inverse Jacobian of the robot was calculated and a PID controller was used to control the end-effector velocity.
The robot moving along +Y direction can be seen in the below GIF.
