This project was done as a part of Foundations of Robotics course.
Velocity Kinematics simulation for a scara robot using Gazebo and ROS was implemented. This has been split into 3 sections :
A : Forward and Inverse Kinematics
B : Implementing PD control for controlling joint position
C : Velocity Control of SCARA
A report is avaialable for each part explaining the behavior of the modules and the robot for better understanding.