Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.
Create a new “cut file”, convert a knee cut file
Control robot with cartesian motion
Control robot with constrained optimization based control
Evaluate benefit of different constraint and objective formulations
Given a fixed cut file what is the ideal starting configuration of the kuka (workspace check)
Run 100 different starting positions and see how the success rate compares
Mention as a use case the cutting of a knee implant
Need a representative cut file
Can you actually execute the path for a given
need loss function/distance metric between pose at each time step and actual.
Create a new “cut file”, convert a knee cut file Control robot with cartesian motion Control robot with constrained optimization based control Evaluate benefit of different constraint and objective formulations Given a fixed cut file what is the ideal starting configuration of the kuka (workspace check) Run 100 different starting positions and see how the success rate compares Mention as a use case the cutting of a knee implant Need a representative cut file
Can you actually execute the path for a given need loss function/distance metric between pose at each time step and actual.