Pick and Place Project

Udacity Robotics Nanodegree
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​Used kinematic analysis alongside the MoveIt! trajectory planning software to pick and place objects. This was done by 

1.  Using Denavit-Hartenberg parameters to analyze the forward kinematics of the system
2.  Using geometry and the above parameters to develop a method to obtain joint angles given desired locations
3.  Using a ROS message communication interface between Gazebo, MoveIt!, and a ROS server that performed kinematic analysis.