Pick and Place Project

Udacity Robotics Nanodegree
​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.