Robotics Toolbox For Serial Manipulators

About

The goal of this library is to enable computation of serial kinematics for robotic manipulators in C++. This library is developed as part of the final project in the course MAE 547: Modelling and Control of Robots at Arizona State University.

Capabilities

Code was tested on Ubuntu 20.04 with g++ version 9.3.0.

Completed

• Grubler's Formula for DOF calculation of Serial Link Manipulators
• Model Prismatic and Revolute Joints
• Print DH Tables for Links based on DH Parameters
• Combine Links to Generate a Robot
• Calculate the forward kinematics, degrees of freedom, and print DH Table of a manipulator

To-Do

• Solve for the manipulator jacobian

To Use

The source files will need to be included wherever the library is intended for use. To compile and play with the example script written in main.cpp, follow the below instructions.

cd ~/git
git clone https://github.com/Mannat-Rana/Robotics_Toolbox.git
cd Robotics_Toolbox
mkdir build
cd build
cmake ..
make
./main