Robot_trajectory_tracking

Description:

This repository contains the code for calculating the Forward Kinematics and Inverse Kinematics of a 3 DOF ROBOT.

Loads waypoints of trajectory from a text file and calculates the trajectory connecting the waypoints in joint space.

Sends the data through socket connection and receives data from the robot through the socket connection.

DH parameters and Joint Limits

Inverse Kinematics equations

Code Organization

Header Files

Robot.h

Contains the class definition of the robot class

Connection.h

Contains the class definition of the connection class

Trajectory.h

Contains a function to load trajectory from text file and return as a vector

Source files

Robot.cpp

Contains the class declaration of the robot class

Connection.cpp

Contains the class declafration of the comnection class

main.cpp

Contains the code for creating the robot object and make the robot follow a trajectory in joint space.

Steps to run the code.

1. Clone the repository
2. cd cmake-build-debug
3. Run the executable Robot

Bugs

1. Reading the trajectory waypoints from the text file using fstream is buggier as it is not able parse the points consistently. Will be fixed soon.