Experiment #1

A project log for Scarab - Hexapod Robot

3D printed hexapod robot controlled by ROS

VladimirVladimir 11/20/2019 at 15:500 Comments

Here is the first experiment with a robot leg and solving inverse kinematic problem algorithm. Software was written in C++ running ROS Kinetic. A marker was attached to the end of the leg in order to check correctness of the algorithm. Also reference trajectory is a circle.

This is a visualized scheme of software.

Every node has a special function:

See my github page for the full source code