Student Submission for Modern Robotics Project 1 Taught by Dr. Madi at SLU

Student submission for the "Project 1: Computation of PincherX 100 End‐effector #Twist Using ROS 2 Utilities and The Derived #Jacobian ‐ Did someone say a dancing robot arm?". They got so creative and designed a special dance move for the robot🕺 💃 .
github.com/mad...
In this project, students:
calculated the Space #Jacobian of the robot arm
calculated the end-effector #twist using the multiplication of the #Jacobian with joint velocities and published it
used #ROS2 utilities to develop a transform listener to calculate the #twist using the multiplication of the derivative of T with T^{-1}
calculated the error between the ground truth #twist and the #twist from the #Jacobian method and published it
Group members for the following video: Wilfredo, Bryan, Namrata, and Tai
#modernrobotics #slu #robotics