This week, I was able to set up the Jetson Agx Xavier. I have started reviewing the inverse kinematics for the robotic arm. I am going through the tutorials for using Python with ROS to get a better understanding of robot simulation. I am also looking through the lecture notes of the robotics course 16-384 called Robot Kinematics and Dynamics. There are many resources available, but I am currently leaning towards using a MATLAB & Simulink library called Robotic Systems Toolbox. I have started playing around with the IK solver algorithms and simulation model for the end effector of the robotic arm. I am having some trouble understanding all the math behind a 4-DOF robotic arm. I think I will eventually get there, but for now, I will simulate the robotic arm.
Carnegie Mellon ECE Capstone, Spring 2022 – Joseph J., Jasper L., Raymond N.