michaelnaps / ur5

Implement a simple path planner, inverse kinematics, controller, and simulation for the UR5 robot manipulator. The final project for the Ohio State University class, Real Time Robotics (ME5463).

Planning, Control, and Simulation of a UR5 Robot Manipulator

Goal: To implement a simple path planner, inverse kinematics function, controller, and simulation for the UR5 robot manipulator. The final project for the Ohio State University class, Real Time Robotics (ME5463).

Team Member Responsibilities:

PD Controller - Michael Napoli
Inverse Kinematics - Michael Napoli
Path Planner - Dylan Trainor
Environment/Simulation - Jesse Zhang, Chunhui Wang

Components Missing:

1). Obstacle detection for UR5 links (EE obstacle detector present).
2). 3D path planner (current planner uses stitched together 2D paths).
3). More sophisticated torque controller.
4). UR5 links tend towards downward position (through table), see item 1.
5). etc...