Robot Physics Engine

This repository implements an optimization strategy for singularity free trajectory generation for the serial robots.

Robot Functionalities

1. Solve Task-Space Inverse Dynamics for Linear Motions.

2. Solve Direct Inverse Dynamics for Joint Motions.

3. Avoids Singularity poses dynamically.

4. Uses Keyboard as a Teleoperation optionally for Task-Space Motion.

Controller Strategies

1. Joint-Space PID Controller,

2. Task-Space PID Controller,

Source: https://www.diag.uniroma1.it/~deluca/rob2_en/material_rob2_en.html

Preview

Joint Space Control	Task Space Control

Developer

1. Name: Kanishk Navale
2. Email: navalekanishk@gmail.com
3. Website: https://kanishknavale.github.io/