Inverse kinematic simulation

The goal of this assignment is to implement the RRT algorithm for sampling-based motion planning and to use it to control a robot arm. In this assignment, I will make use of the “MoveIt!” library to help us interact with the robotic arm more easily.

Without barrier

This is the ROS2 simulation of a Franka Robotics arm. It has 7 degrees of freedom. In this simulation, there is no barrier. It just needs to avoid self-collision.

With barrier

This is the ROS2 simulation of a UR5 Robotics arm. It has 6 degrees of freedom. In this simulation, there is one case without a barrier and 2 cases with a barrier. It uses RRT algorithm to find the path for the end-effector to reach the final destination.