[Manipulator Inverse Kinematics]

Manipulator Inverse Kinematics Lecture with Youtube Videos and Source Codes.
(KHU ME77600 Assignment)

Overview

This repository provides beginner course of manipulator inverse kinematics.

Youtube Link

• Lecture Videos (Korean)

Dependencies

1. Prerequisites

• ROS 2 Distribution: Humble
• Python: 3.8+

2. Required Packages

• Core & Build Tools
  • rclpy: ROS 2 Python client library.
  • ament_index_python: Python API for the Ament resource index.
• Math & Kinematics
  • pinocchio: A fast and flexible implementation of Rigid Body Dynamics algorithms.
• Messages & Interfaces
  • std_msgs / sensor_msgs: Standard ROS 2 message definitions.
  • visualization_msgs: Messages for 3D visualization markers.
• Visualization & Robot State
  • rviz2: 3D visualization tool for ROS 2.
  • interactive_markers: Tools for creating interactive 3D markers in RViz.
  • robot_state_publisher: Publishes the state of the robot (tf tree) to tf2.

3. Installation

After cloning this repository into your workspace src folder, you can install all dependencies automatically using rosdep.

# Navigate to your workspace root (e.g., ~/ros2_ws)
cd ~/ros2_ws

# Update rosdep database
sudo apt update
rosdep update

# Install dependencies
rosdep install --from-paths src --ignore-src -r -y
sudo apt install ros-humble-pinocchio

Usage

cd ~/ros2_ws
colcon build --symlink-install
source ~/.bashrc

1. Analytical IK – 2-DOF planar analytical IK via interactive markers in RViz

   ros2 launch analytical_ik analytical_ik_test.launch.py
   

2. Jacobian-based IK – numerical IK via interactive markers in RViz

   ros2 launch numerical_ik numerical_ik_test.launch.py solver:=<solver_name>
   

3. Heuristic IK – 2D heuristic IK with RViz visualization

   ros2 launch heuristic_ik heuristic_ik_test.launch.py solver:=<solver_name>
   

4. Redundancy & Null-space – Real-time redundant IK using CLIK-style solvers in RViz

   ros2 launch redundant_ik redundant_ik_test.launch.py solver:=<solver_name>
   

License

This project is licensed under the MIT License - see the LICENSE file for details.

Contact

Maintainer: [Daum Park] (doumpork@khu.ac.kr)
Lab: RCI Lab @ Kyung Hee University