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Sharwin24 2025-03-11 11:51:50 -05:00
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@ -25,14 +25,14 @@ The robot's forward and inverse kinematics were first implemented in a [jupyter
The forward and inverse kinematics were then implemented in C++ following the approach described on the Trossen Robotics forum [1]. Access to the kinematics lets us plan paths in the joint space significantly easier and safer since the workspace is irregular. Once a joint trajectory is planned, the path can be verified to stay in the workspace
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<summary>Forward and Inverse Kinematics C++ Implementation as ROS services</summary>