Overview
This project is a simple kinematics engine for manipulators. It was built while reading the textbook Modern Robotics. The github repo can be found here.
What I built
- A kinematics engine which can compute compute forward and inverse kinematics of a manipulator.
- Implemented algorithms based on product of exponentials in C++.
- Added MuJoCo to simulate moving manipulators using the kinematics engine.
Technologies
C++, MuJoCo, Eigen