kuka_iiwa_ik

This repository includes the inverse kinematics solver code for 7-DoF anthropomorphic manipulators and a redundancy resolution strategy with global configuration control, joint limit and singularity avoidance.

Kinematic-Calibration

Automatic calibration algorithm to determine the kinematic model of any serial manipulator. A method based on circle fitting and dual vector geometry is included to determine the Classic Denavit-Hartenberg parameters for a serial manipulator. It requires a CSV file for each actuated joint. This file should contain the acquired end-effector positions of the robot as each joint is separately moved.

FIBR3DEmul

Custom 3 and 5 axis FDM process simulator.

NeueBot

This repository contains a modular control architecture for neurosurgical applications. It builds on top of a well-established component and communication model, with deterministic behavior and supports hard-real-time constraints. At the core of the controller, is a novel analytic inverse kinematics method for serial redundant manipulators capable of uniquely solving the nullspace, avoiding singularities, and joint limits. This method provides the manipulator with the flexibility to adapt to the available workspace, which is shared by the surgery team and by other equipment. The proposed architecture also includes a list of interconnected controllers and supervisor components to perform the different surgical tasks.