Mobile manipulator project demonstrating inverse kinematics and trajectory following capabilities in the CoppeliaSim.
This project utilizes forward, inverse kinematics for UR5 manipulator and 4 wheel differential drive path following on custom designed chassis to serve cups to the tables in the narrow space of diner environment.
- complete demo video
- Ubuntu18.04 (or higher)
- CoppeliaSim simulator
- python3.6
Clone this repository using
git clone git@github.com:HrushikeshBudhale/Serving_robot.git
Start the CoppeliaSim simulator by entering
<CoppeliaSim-folder-path>/coppeliaSim.sh <serving-robot-folder-path>/scene/diner.ttt
In another terminal enter
python3 <serving-robot-folder-path>/src/robot_control.py