Two Link Planar Robot

Goal: To design a Two Link Planar Robot (TLPR) whose end effector traces and draws a circle

Project Code:

Project Objectives:

  • Develop an URDF for TLPR
  • Use inverse kinematics to determine the joint angles given following trajectory:


  • Move the end effector by publishing sensor_msgs/JointState message
  • Animate the trajectory by repeatedly using lookupTransform of tf.TransformListener and publishing a visualization_msgs/Marker to visualize path of the end effector

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