OpenManipulator-X Kinematics and Control

Modeled an OpenManipulator-X robot and developed ROS 2 nodes to control the pose, using forward, inverse, and velocity kinematics.

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As part of the RBE500 coursework, I collaborated with three teammates to model a pre-built robot arm using the OpenManipulator-X robotic platform. The team developed several Python nodes using ROS 2 Humble, in publisher/subscriber and service/client configurations. The nodes implemented the forward, inverse, and velocity kinematics of the robot, all of which were derived by the team. These nodes control the actuators in the given position control mode. The team also developed a PD controller node, while the actuator was in current/effort control mode, and manually tuned the gains for fast convergence and minimal overshoot.

Contributors: Rajdeep Banerjee, John Hoang Do, Tanveer Kaur, Hunter Sanford.

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