Mechanical Arm 💪

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This project demonstrates motion planning of a robotic arm using MoveIt! in ROS.

Features

• Gazebo simulation integrated with MoveIt!.
• Joint space motion planning.
• Cartesian space motion planning.
• Spherical planning algorithm.
• Joint planning with a dual-axis turntable.

Solver

• Replaced the default solver with trac_ik for more efficient IK solving.
  https://bitbucket.org/traclabs/trac_ik/src/master/

Combined Planning with Turntable and Arm

• Configure a virtual joint group in Setup Assistant to plan both the arm and turntable together.
  

How to Run

• Launch Rviz:

roslaunch kuka_moveit_config demo.launch

• Start the control node:

rosrun arm_control move_group_interface

• After each task finishes, click NEXT in the RvizVisualGUI window to run the next task.

Demo

all.mp4