Welcome to robot-arm-kinematics! This project solves forward and inverse robot arm kinematics using ROS2 and RViz. It’s an educational tool developed for students at the Moscow State University of Technology "Stankin." Whether you're exploring robotics or enhancing your understanding, this application helps visualize and calculate the movements of robotic arms.
- Forward Kinematics: Understand how the arm moves based on joint angles.
- Inverse Kinematics: Determine the required angles to reach a specific position.
- User-Friendly Visualization: Use RViz to see real-time simulations.
- Python Integration: Leverage Python scripts for customizable solutions.
- Support for URDF: Import robot models easily for effective testing.
To get started, visit the Releases page to download the latest version of the application.
- Click the Download Latest Release button above.
- You will be redirected to a page with several downloadable files.
- Choose the version that suits your operating system and click on it to download.
Before running the application, ensure your system meets these requirements:
- Operating System: Windows 10 or higher, macOS, or a recent Linux distribution.
- RAM: At least 4 GB recommended for smooth performance.
- Processor: Dual-core processor or better for optimal operation.
- Dependencies: Make sure you have ROS2 and RViz installed. Installation guides are available on their official websites.
After downloading the application, follow these steps to set it up:
- Navigate to your Downloads folder or where you saved the file.
- Extract the downloaded zip file if it is compressed.
- Launch the application by double-clicking the exe file (Windows) or the respective file for your operating system.
- If prompted, allow any security permissions to proceed.
Once the application is open, familiarize yourself with the interface:
- Main Menu: Access features like Forward Kinematics, Inverse Kinematics, and model imports from here.
- Input Section: Enter values such as joint angles or end-effector positions.
- Visualization Panel: Watch the robotic arm simulate movements based on your inputs.
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For Forward Kinematics:
- Select the Forward Kinematics option from the main menu.
- Input the joint angles into the designated fields.
- Click the "Calculate" button to see the resulting end-effector position.
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For Inverse Kinematics:
- Navigate to the Inverse Kinematics section.
- Enter the desired end-effector position.
- Click "Calculate" to find the required joint angles.
The results will appear in the visualization panel, allowing you to see the movement in real-time.
For detailed instructions, program features, and troubleshooting tips, refer to the full documentation.
If you encounter issues or have questions, feel free to open an issue in the GitHub repository. You can also join our community on Discord or our chat forum, where fellow users and developers share their insights.
- forward-kinematics
- inverse-kinematics
- kinematics
- python
- robotics
- ros
- ros2
- rviz
- rviz2
- urdf
Thanks to everyone who contributed to this project, including the professors and students at Moscow State University of Technology "Stankin." Your support makes this educational tool possible.
We welcome contributions from anyone interested in improving this project. Whether you want to fix bugs, add features, or enhance documentation, please refer to the contributing guidelines.
This project is licensed under the MIT License. See the LICENSE file for details.
For additional resources and information, check out our Releases page regularly for updates.