Forward Kinematics of a Robotic Arm Using ROS and RViz with MoveIt |
Author(s): |
| Shubham Narendra Tiwari , Anjuman College of Engineering and Technology Nagpur; Prof. M. Shakebuddin, Anjuman College of Engineering and Technology Nagpur |
Keywords: |
| MoveIt, Forward Kinematics, Robotics, ROS, RViz |
Abstract |
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In this paper we discuss about performing the forming forward kinematics of a six axis robotic arm using ROS and RViz with a special plugin called MoveIt. For performing kinematics operations (i.e. either forward or reverse) using the above mentioned set up we created an arm model which is compatible with RViz. Later we also created a MoveIt configuration package of the same model for motion planning purposes. After creating a configuration package we performed forward kinematics on the armmodel and we verified the results in RViz with the manual calculations that we had done. |
Other Details |
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Paper ID: IJSRDV8I70201 Published in: Volume : 8, Issue : 7 Publication Date: 01/10/2020 Page(s): 297-300 |
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