Udacity Robotics Nanodegree
Used kinematic analysis alongside the MoveIt! trajectory planning software to pick and place objects. This was done by
- Using Denavit-Hartenberg parameters to analyze the forward kinematics of the system
- Using geometry and the above parameters to develop a method to obtain joint angles given desired locations
- Using a ROS message communication interface between Gazebo, MoveIt!, and a ROS server that performed kinematic analysis.