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Control KUKA Manipulator to follow a predefined trajectory using Jacobain approach and Inverse Kinematic approach

Python 100.00%
forward-kinematics inverse-kinematics jacobian kuka robotics

manipulator-trajectory-tracking's Introduction

KUKA-Manipulator

Requirement: sympy, numpy, mpl_toolkits, matplotlib

description:

This package derive the forward kinematic, inverse kinematic, and Jacobian. These sciprt implement the numercial validation of KUKA manipulator's FK, IK, and jacobian.

Demo

Jacobian

Screencast 2023-03-02 20_32_41

https://youtu.be/OK9B0Jeo86I

Inverse Kinematic

Screencast 2023-03-02 20_34_47

https://youtu.be/SvX5C4ZD1OU

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