This is a compilation of some robot kinematics studies and examples that I did during college and updated to be run with ROS.

I am currently reviewing and uploading examples, that's why some examples are still missing

I hope it can be useful to others :)

• three_r_planar_forward: A 3R planar robot example using forward kinematics

• three_r_planar_inverse: A 3R planar robot example using inverse kinematics

• three_r_planar_jacobian: A 3R planar robot example using jacobian

• stanford_jacobian: A stanford robot example using jacobian

• three_rrr_planar_inverse: A 3RRR parallel robot using inverse kinematics

• delta_forward: A delta parallel robot using forward kinematics

• delta_inverse: A delta parallel robot using inverse kinematics

• stewart_inverse: A stewart parallel robot using inverse kinematics

• anthropomorphic_forward: An anthropomorphic serial robot using forward kinematics

• anthropomorphic_inverse: An anthropomorphic serial robot using inverse kinematics

• puma_forward: A Puma 560 serial robot using forward kinematics

• puma_inverse: A Puma 560 serial robot using inverse kinematics

With roscore running, every example node can be run with:

rosrun foundations_robot_kinematics [node_name]

A script to select and run examples

Refactor hardcoded robot's params to a config file

Add 3D models