In a previous notebook we explored the concept of nullspace, and I mentioned that there are lots of different applications for this. One of them is obstacle avoidance, where you can move the robot in the null space to increase the distance between segments and obstacles in the workspace. This is actually based on my […]
I just finished working on a Python script that can automatically generate a URDF file from a set of DH parameters. I wrote this to provide some level of visualization for my research in manipulator structure optimization. You can find the code here. It can be called from the command line or integrated into other […]
Singularity is an important concept when it comes to robotic manipulators, but many robotics professors provide students with definitions that don’t tell the whole story. This notebook dives into the concept of singularity, the mathematical background necessary to understand it, and how to apply these concepts to robotics. Check out the static notebook here. Download […]