Bachelor Theses

Inverse Kinematics Module for Schunk Power Ball Robotics Arm

In this projekt a plugin module for the inverse Kinematics of the Schunk Power Ball robotics arm should be implemented. The plugin is used by the moveit! framework (http://moveit.ros.org/) when movements of the arm are planned. The calculation of the inverse kinematics was developed by Joanneum Research (http://www.joanneum.at/robotics.html) and is as closed form solution available.