Custom Robot Arm Trajectory Generation
Budget: $99 – $100 USD
I'm seeking a skilled engineer to implement trajectory generation for a custom-built robot arm using both forward and inverse kinematics.
Tasks will include:
- Computing end-effector poses given joint values, and checking for collisions with scene objects.
- Generating necessary trajectories to move the robot arm into computed poses if no collisions are detected.
- Computing joint values for a given end-effector pose using GDIK, and enabling the robot to track a draggable spherical dot.
For both FK and IK, a variable resolution trajectory generator needs to be implemented. Each joint's PD controller should be tuned for optimal performance.
This project requires:
- Proficiency in working with custom-built robot arms.
- Expertise in trajectory generation, forward and inverse kinematics.
- Familiarity with GDIK and PD control tuning.
The environment for this task is straightforward: a robot arm operating on a plane surface. All freelancers with relevant experience are encouraged to apply.
location to input joint values for your robot, matching the DoF of your robot
A location to input 3D pose (position and rotation) for IK requests
A 3D spherical dot in the scene as target for IK
An obstacle of your choice blocking some area next to the robot
A slider to control trajectory generator resolution
A location to select if motion planning is FK or IK
A button to begin execution
For FK, when hit execution, should check if ending position is invalid i.e., colliding
or inside obstacle, and if not, then trajectory is executed
For IK, when hit execution, the robot should move towards the spherical dot
Your robot should achieve this through ArticulationBody targets, if well-tuned
Tasks will include:
- Computing end-effector poses given joint values, and checking for collisions with scene objects.
- Generating necessary trajectories to move the robot arm into computed poses if no collisions are detected.
- Computing joint values for a given end-effector pose using GDIK, and enabling the robot to track a draggable spherical dot.
For both FK and IK, a variable resolution trajectory generator needs to be implemented. Each joint's PD controller should be tuned for optimal performance.
This project requires:
- Proficiency in working with custom-built robot arms.
- Expertise in trajectory generation, forward and inverse kinematics.
- Familiarity with GDIK and PD control tuning.
The environment for this task is straightforward: a robot arm operating on a plane surface. All freelancers with relevant experience are encouraged to apply.
location to input joint values for your robot, matching the DoF of your robot
A location to input 3D pose (position and rotation) for IK requests
A 3D spherical dot in the scene as target for IK
An obstacle of your choice blocking some area next to the robot
A slider to control trajectory generator resolution
A location to select if motion planning is FK or IK
A button to begin execution
For FK, when hit execution, should check if ending position is invalid i.e., colliding
or inside obstacle, and if not, then trajectory is executed
For IK, when hit execution, the robot should move towards the spherical dot
Your robot should achieve this through ArticulationBody targets, if well-tuned