DE3-ROB1 STAIRCASE Group Documentation

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Working with FRANKA Emika

Franka Arm
Workstation set-up for Franka
Controlling Franka & ROS
How to run our project in Gazebo

Project Development

Project Proposal
Concept Development
- Objectives
Gazebo Limitations
IK Solver
Motion Planning and Redundancy Resolution
Trapezium Velocity Profile
Fully Autonomous Robot
Code Explanation

Results

How to run our project in Gazebo
Simulation
Future Improvements

Appendix

Helpful Resources
DE Programming Ground Rules

DE3-ROB1 STAIRCASE Group Documentation

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Concept Development
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Concept Development¶

Objectives¶

We see 3 main objectives in our concept development:

Innovative Pushing Feature
Autonomy
Error Detection

Innovative Pushing Feature¶

_images/innovative.png

Autonomy¶

_images/MakingRobotFullyAutonomous.png

Error Detection¶

_images/error.png

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